Research on Strawberry Visual Recognition and 3D Localization Based on Lightweight RAFS-YOLO and RGB-D Camera

Kaixuan Li, Xinyuan Wei, Qiang Wang and Wuping Zhang ()
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Kaixuan Li: College of Software, Shanxi Agricultural University, Jinzhong 030801, China
Xinyuan Wei: College of Software, Shanxi Agricultural University, Jinzhong 030801, China
Qiang Wang: College of Software, Shanxi Agricultural University, Jinzhong 030801, China
Wuping Zhang: College of Software, Shanxi Agricultural University, Jinzhong 030801, China

Agriculture, 2025, vol. 15, issue 21, 1-37

Abstract: Improving the accuracy and real-time performance of strawberry recognition and localization algorithms remains a major challenge in intelligent harvesting. To address this, this study presents an integrated approach for strawberry maturity detection and 3D localization that combines a lightweight deep learning model with an RGB-D camera. Built upon the YOLOv11 framework, an enhanced RAFS-YOLO model is developed, incorporating three core modules to strengthen multi-scale feature fusion and spatial modeling capabilities. Specifically, the CRA module enhances spatial relationship perception through cross-layer attention, the HSFPN module performs hierarchical semantic filtering to suppress redundant features, and the DySample module dynamically optimizes the upsampling process to improve computational efficiency. By integrating the trained model with RGB-D depth data, the method achieves precise 3D localization of strawberries through coordinate mapping based on detection box centers. Experimental results indicate that RAFS-YOLO surpasses YOLOv11n, improving precision, recall, and mAP@50 by 4.2%, 3.8%, and 2.0%, respectively, while reducing parameters by 36.8% and computational cost by 23.8%. The 3D localization attains millimeter-level precision, with average RMSE values ranging from 0.21 to 0.31 cm across all axes. Overall, the proposed approach achieves a balance between detection accuracy, model efficiency, and localization precision, providing a reliable perception framework for intelligent strawberry-picking robots.

Keywords: strawberry; maturity detection; 3D localization; RAFS-YOLO; deep learning (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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