Temporal Encoding Strategies for YOLO-Based Detection of Honeybee Trophallaxis Behavior in Precision Livestock Systems

Gabriela Vdoviak () and Tomyslav Sledevič
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Gabriela Vdoviak: Department of Electronic Systems, Vilnius Gediminas Technical University, Saulėtekio Ave. 11, LT-10223 Vilnius, Lithuania
Tomyslav Sledevič: Department of Electronic Systems, Vilnius Gediminas Technical University, Saulėtekio Ave. 11, LT-10223 Vilnius, Lithuania

Agriculture, 2025, vol. 15, issue 22, 1-20

Abstract: Trophallaxis, a fundamental social behavior observed among honeybees, involves the redistribution of food and chemical signals. The automation of its detection under field-realistic conditions poses a significant challenge due to the presence of crowding, occlusions, and brief, fine-scale motions. In this study, we propose a markerless, deep learning-based approach that injects short- and mid-range temporal features into single-frame You Only Look Once (YOLO) detectors via temporal-to-RGB encodings. A new dataset for trophallaxis detection, captured under diverse illumination and density conditions, has been released. On an NVIDIA RTX 4080 graphics processing unit (GPU), temporal-to-RGB inputs consistently outperformed RGB-only baselines across YOLO families. The YOLOv8m model improved from 84.7% mean average precision (mAP50) with RGB inputs to 91.9% with stacked-grayscale encoding and to 95.5% with temporally encoded motion and averaging over a 1 s window (TEMA-1s). Similar improvements were observed for larger models, with best mAP50 values approaching 94–95%. On an NVIDIA Jetson AGX Orin embedded platform, TensorRT-optimized YOLO models sustained real-time throughput, reaching 30 frames per second (fps) for small and 23–25 fps for medium models with temporal-to-RGB inputs. The results showed that the TEMA-1s encoded YOLOv8m model has achieved the highest mAP50 of 95.5% with real-time inference on both workstation and edge hardware. These findings indicate that temporal-to-RGB encodings provide an accurate and computationally efficient solution for markerless trophallaxis detection in field-realistic conditions. This approach can be further extended to multi-behavior recognition or integration of additional sensing modalities in precision beekeeping.

Keywords: beehive monitoring; trophallaxis behavior; convolutional neural networks; Jetson GPU (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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