ORD-YOLO: A Ripeness Recognition Method for Citrus Fruits in Complex Environments

Zhaobo Huang, Xianhui Li, Shitong Fan, Yang Liu, Huan Zou, Xiangchun He, Shuai Xu, Jianghua Zhao and Wenfeng Li ()
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Zhaobo Huang: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Xianhui Li: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Shitong Fan: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Yang Liu: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Huan Zou: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Xiangchun He: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Shuai Xu: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Jianghua Zhao: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China
Wenfeng Li: College of Mechanical and Electrical Engineering, Yunnan Agricultural University, Kunming 650201, China

Agriculture, 2025, vol. 15, issue 15, 1-22

Abstract: With its unique climate and geographical advantages, Yunnan Province in China has become one of the country’s most important citrus-growing regions. However, the dense foliage and large fruit size of citrus trees often result in significant occlusion, and the fluctuating light intensity further complicates accurate assessment of fruit maturity. To address these challenges, this study proposes an improved model based on YOLOv8, named ORD-YOLO, for citrus fruit maturity detection. To enhance the model’s robustness in complex environments, several key improvements have been introduced. First, the standard convolution operations are replaced with Omni-Dimensional Dynamic Convolution (ODConv) to improve feature extraction capabilities. Second, the feature fusion process is optimized and inference speed is increased by integrating a Re-parameterizable Generalized Feature Pyramid Network (RepGFPN). Third, the detection head is redesigned using a Dynamic Head structure that leverages dynamic attention mechanisms to enhance key feature perception. Additionally, the loss function is optimized using InnerDIoU to improve object localization accuracy. Experimental results demonstrate that the enhanced ORD-YOLO model achieves a precision of 93.83%, a recall of 91.62%, and a mean Average Precision (mAP) of 96.92%, representing improvements of 4.66%, 3.3%, and 3%, respectively, over the original YOLOv8 model. ORD-YOLO not only maintains stable and accurate citrus fruit maturity recognition under complex backgrounds, but also significantly reduces misjudgment caused by manual assessments. Furthermore, the model enables real-time, non-destructive detection. When deployed on harvesting robots, it can substantially increase picking efficiency and reduce post-maturity fruit rot due to delayed harvesting. These advancements contribute meaningfully to the quality improvement, efficiency enhancement, and digital transformation of the citrus industry.

Keywords: cirtus; YOLOv8; ODConv; RepGFPN; InnerDIoU; maturity (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: 2025
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