Abstract
This study introduced a novel approach to 3D image segmentation utilizing a neural network framework applied to 2D depth map imagery, with Z axis values visualized through color gradation. This research involved comprehensive data collection from mechanically harvested wild blueberries to populate 3D and red-green-blue (RGB) images of filled totes through time-of-flight and RGB cameras, respectively. Advanced neural network models from the YOLOv8 and Detectron2 frameworks were assessed for their segmentation capabilities. Notably, the YOLOv8 models, particularly YOLOv8n-seg, demonstrated superior processing efficiency, with an average time of 18.10 ms, significantly faster than the Detectron2 models, which exceeded 57 ms, while maintaining high performance with a mean intersection over union (IoU) of 0.944 and a Matthew's correlation coefficient (MCC) of 0.957. A qualitative comparison of segmentation masks indicated that the YOLO models produced smoother and more accurate object boundaries, whereas Detectron2 showed jagged edges and under-segmentation. Statistical analyses, including ANOVA and Tukey's HSD test (α = 0.05), confirmed the superior segmentation performance of models on depth maps over RGB images (p < 0.001). This study concludes by recommending the YOLOv8n-seg model for real-time 3D segmentation in precision agriculture, providing insights that can enhance volume estimation, yield prediction, and resource management practices.