Abstract
Automatic and accurate detection of fruit in greenhouse is challenging due to complicated environment conditions. Leaves or branches occlusion, illumination variation, overlap and cluster between fruits make the fruit detection accuracy to decrease. To address this issue, an accurate and robust fruit-detection algorithm was proposed for tomato detection based on an improved YOLOv4-tiny model. First, an improved backbone network was used to enhance feature extraction and reduce overall computational complexity. To obtain the improved backbone network, the BottleneckCSP modules of the original YOLOv4-tiny backbone were replaced by a Bottleneck module and a reduced version of BottleneckCSP module. Then, a tiny version of CSP-Spatial Pyramid Pooling (CSP-SPP) was attached to the new backbone network to improve the receptive field. Finally, a Content Aware Reassembly of Features (CARAFE) module was used in the neck instead of the traditional up-sampling operator to obtain a better feature map with high resolution. These modifications improved the original YOLOv4-tiny and helped the new model to be more efficient and accurate. The experimental results showed that the precision, recall, F1 score, and the mean average precision (mAP) with Intersection over Union (IoU) of 0.5 to 0.95 were 96.3%, 95%, 95.6%, and 82.8% for the improved YOLOv4-tiny model, respectively. The detection time was 1.9 ms per image. The overall detection performance of the improved YOLOv4-tiny was better than that of state-of-the-art detection methods and met the requirements of tomato detection in real time.