Developing Machine Vision in Tree-Fruit Applications—Fruit Count, Fruit Size and Branch Avoidance in Automated Harvesting

Recent developments in affordable depth imaging hardware and the use of 2D Convolutional Neural Networks (CNN) in object detection and segmentation have accelerated the adoption of machine vision in a range of applications, with mainstream models often out-performing previous application-specific architectures. The need for the release of training and test datasets with any work reporting model development is emphasized to enable the re-evaluation of published work. An additional reporting need is the documentation of the performance of the re-training of a given model, quantifying the impact of stochastic processes in training. Three mango orchard applications were considered: the (i) fruit count, (ii) fruit size and (iii) branch avoidance in automated harvesting. All training and test datasets used in this work are available publicly. The mAP 'coefficient of variation' (Standard Deviation, SD, divided by mean of predictions using models of repeated trainings × 100) was approximately 0.2% for the fruit detection model and 1 and 2% for the fruit and branch segmentation models, respectively. A YOLOv8m model achieved a mAP50 of 99.3%, outperforming the previous benchmark, the purpose-designed 'MangoYOLO', for the application of the real-time detection of mango fruit on images of tree canopies using an edge computing device as a viable use case. YOLOv8 and v9 models outperformed the benchmark MaskR-CNN model in terms of their accuracy and inference time, achieving up to a 98.8% mAP50 on fruit predictions and 66.2% on branches in a leafy canopy. For fruit sizing, the accuracy of YOLOv8m-seg was like that achieved using Mask R-CNN, but the inference time was much shorter, again an enabler for the field adoption of this technology. A branch avoidance algorithm was proposed, where the implementation of this algorithm in real-time on an edge computing device was enabled by the short inference time of a YOLOv8-seg model for branches and fruit. This capability contributes to the development of automated fruit harvesting.