Fast identification of tomatoes in natural environments by improved YOLOv5s

Abstract

Real time recognition and detection of tomato fruit maturity is a key function of tomato picking robots. Existing recognition and detection algorithms have slow speed and low recognition accuracy for small tomatoes. Here, a tomato fruit maturity detection model YOLOv5s3 based on improved YOLOv5s was proposed and its accuracy was verified through comparative experiments. On the basis of YOLOv5s, an SC module was proposed based on channel shuffle packet convolution. Then, A C3S module is constructed, which replaced the origil C3 module with this C3S module to reduce the number of parameters while maintaining the feature expression ability of the origil network. And a 3-feature fusion FF module was put forward, which accepted inputs from three feature layers. The FF module fused two feature maps from the backbone network. The C2 layer of the backbone was integrated, and the large target detection head was removed to use dual head detection to enhance the detection ability of small targets. The experimental results showed that the improved model has a detection accuracy of 94.8%, a recall rate of 96%, a parameter quantity of 3.02M, and an average accuracy (mAP0.5) of 93.3% for an intersection over union (IoU) of 0.5. The detection speed reaches 9.4ms. It can quickly and accurately identify the maturity of tomato fruits, and the detection speed is 22.95%, 33.33%, 48.91%, 68.35%, 15%, and 25.98% higher than the origil YOLOv5s, YOLOv5m, YOLOv5l, YOLOv5x, YOLOv5n, and YOLOv4, respectively. The real-time testing visualization results of different models indicated that the improved model can effectively improve detection speed and solve the problem of low recognition rate for small tomatoes, which can provide reference for the development of picking robots.