Enhancing Tomato Detection in Complex Field Environments using Faster R-CNN Deep Learning Model for Autonomous Picking Robots

The automation of agricultural practices offers significant potential for boosting productivity while reducing labor requirements, particularly in fruit harvesting. However, accurately detecting tomatoes in dynamic and complex field environments remains a challenge due to issues such as high false positive rates, missed detections, variable illumination, occlusion, and heterogeneous foliage. In this research, tomato recognition for autonomous picking robots is conducted using the deep learning model Faster R-CNN (Region-based Convolutional Neural Network). Faster R-CNN excels in object detection tasks within complex scenes containing multiple objects and diverse backgrounds by generating region proposals and performing classifications, thereby addressing these challenges effectively. The Faster R-CNN model is trained and optimized on a comprehensive dataset of tomato plants collected under diverse field conditions for real-time detection. To enhance robustness and reliability in challenging environments, sensor fusion techniques integrating RGB and depth information are employed. This approach is expected to significantly reduce false positives and missed detections, improving the overall efficiency of autonomous picking robots. The proposed solution not only addresses critical inefficiencies in the tomato harvesting process but also advances the application of deep learning models in precision agriculture, promoting sustainable and efficient farming practices.