Apple Detection via Near-Field MIMO-SAR Imaging: A Multi-Scale and Context-Aware Approach

Accurate fruit detection is of great importance for yield assessment, timely harvesting, and orchard management strategy optimization in precision agriculture. Traditional optical imaging methods are limited by lighting and meteorological conditions, making it difficult to obtain stable, high-quality data. Therefore, this study utilizes near-field millimeter-wave MIMO-SAR (Multiple Input Multiple Output Synthetic Aperture Radar) technology, which is capable of all-day and all-weather imaging, to perform high-precision detection of apple targets in orchards. This paper first constructs a near-field millimeter-wave MIMO-SAR imaging system and performs multi-angle imaging on real fruit tree samples, obtaining about 150 sets of SAR-optical paired data, covering approximately 2000 accurately annotated apple targets. Addressing challenges such as weak scattering, low texture contrast, and complex backgrounds in SAR images, we propose an innovative detection framework integrating Dynamic Spatial Pyramid Pooling (DSPP), Recursive Feature Fusion Network (RFN), and Context-Aware Feature Enhancement (CAFE) modules. DSPP employs a learnable adaptive mechanism to dynamically adjust multi-scale feature representations, enhancing sensitivity to apple targets of varying sizes and distributions; RFN uses a multi-round iterative feature fusion strategy to gradually refine semantic consistency and stability, improving the robustness of feature representation under weak texture and high noise scenarios; and the CAFE module, based on attention mechanisms, explicitly models global and local associations, fully utilizing the scene context in texture-poor SAR conditions to enhance the discriminability of apple targets. Experimental results show that the proposed method achieves significant improvements in average precision (AP), recall rate, and F1 score on the constructed near-field millimeter-wave SAR apple dataset compared to various classic and mainstream detectors. Ablation studies confirm the synergistic effect of DSPP, RFN, and CAFE. Qualitative analysis demonstrates that the detection framework proposed in this paper can still stably locate apple targets even under conditions of leaf occlusion, complex backgrounds, and weak scattering. This research provides a beneficial reference and technical basis for using SAR data in fruit detection and yield estimation in precision agriculture.