A Deep-Learning Extraction Method for Orchard Visual Navigation Lines

Jianjun Zhou, Siyuan Geng, Quan Qiu (), Yang Shao and Man Zhang ()
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Jianjun Zhou: College of Information Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China
Siyuan Geng: Beijing Electro-Mechanical Engineering Institute, Beijing 100074, China
Quan Qiu: Academy of Artificial Intelligence, Beijing Institute of Petrochemical Technology, Beijing 102617, China
Yang Shao: College of Information Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China
Man Zhang: Key Laboratory of Smart Agriculture System Integration Research, Ministry of Education, China Agricultural University, Beijing 100083, China

Agriculture, 2022, vol. 12, issue 10, 1-13

Abstract: Orchard machinery autonomous navigation is helpful for improving the efficiency of fruit production and reducing labor costs. Path planning is one of the core technologies of autonomous navigation for orchard machinery. As normally planted in straight and parallel rows, fruit trees are natural landmarks that can provide suitable cues for orchard intelligent machinery. This paper presents a novel method to realize path planning based on computer vision technologies. We combine deep learning and the least-square (DL-LS) algorithm to carry out a new navigation line extraction algorithm for orchard scenarios. First, a large number of actual orchard images are collected and processed for training the YOLO V3 model. After the training, the mean average precision (MAP) of the model for trunk and tree detection can reach 92.11%. Secondly, the reference point coordinates of the fruit trees are calculated with the coordinates of the bounding box of trunks. Thirdly, the reference lines of fruit trees growing on both sides are fitted by the least-square method and the navigation line for the orchard machinery is determined by the two reference lines. Experimental results show that the trained YOLO V3 network can identify the tree trunk and the fruit tree accurately and that the new navigation line of fruit tree rows can be extracted effectively. The accuracy of orchard centerline extraction is 90.00%.

Keywords: autonomous navigation; navigation line extraction; orchard machinery; deep learning; least-square (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
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