Coefficient of restitution of kiwifruit without external interference

Research on terahertz image analysis of thin-shell seeds based on semantic segmentation

Assessing crop seed phenotypic traits is essential for breeding innovations and germplasm enhancement. However, the tough outer layers of thin-shelled seeds present significant challenges for traditional methods aimed at the rapid assessment of their internal structures and quality attributes. This study explores the potential of combining terahertz (THz) time-domain spectroscopy and imaging with semantic segmentation models for the rapid and non-destructive examination of these traits. A total of 120 watermelon seed samples from three distinct varieties, were curated in this study, facilitating a comprehensive analysis of both their outer layers and inner kernels. Utilizing a transmission imaging modality, THz spectral images were acquired and subsequently reconstructed employing a correlation coefficient method. Deep learning-based SegNet and DeepLab V3+ models were employed for automatic tissue segmentation. Our research revealed that DeepLab V3+ significantly surpassed SegNet in both speed and accuracy. Specifically, DeepLab V3+ achieved a pixel accuracy of 96.69 % and an intersection over the union of 91.3 % for the outer layer, with the inner kernel results closely following. These results underscore the proficiency of DeepLab V3+ in distinguishing between the seed coat and kernel, thereby furnishing precise phenotypic trait analyses for seeds with thin shells. Moreover, this study accentuates the instrumental role of deep learning technologies in advancing agricultural research and practices.

Unstructured road extraction and roadside fruit recognition in grape orchards based on a synchronous detection algorithm

Accurate road extraction and recognition of roadside fruit in complex orchard environments are essential prerequisites for robotic fruit picking and walking behavioral decisions. In this study, a novel algorithm was proposed for unstructured road extraction and roadside fruit synchronous recognition, with wine grapes and nonstructural orchards as research objects. Initially, a preprocessing method tailored to field orchards was proposed to reduce the interference of adverse factors in the operating environment. The preprocessing method contained 4 parts: interception of regions of interest, bilateral filter, logarithmic space transformation and image enhancement based on the MSRCR algorithm. Subsequently, the analysis of the enhanced image enabled the optimization of the gray factor, and a road region extraction method based on dual-space fusion was proposed by color channel enhancement and gray factor optimization. Furthermore, the YOLO model suitable for grape cluster recognition in the wild environment was selected, and its parameters were optimized to enhance the recognition performance of the model for randomly distributed grapes. Finally, a fusion recognition framework was innovatively established, wherein the road extraction result was taken as input, and the optimized parameter YOLO model was utilized to identify roadside fruits, thus realizing synchronous road extraction and roadside fruit detection. Experimental results demonstrated that the proposed method based on the pretreatment could reduce the impact of interfering factors in complex orchard environments and enhance the quality of road extraction. Using the optimized YOLOv7 model, the precision, recall, mAP, and F1-score for roadside fruit cluster detection were 88.9%, 89.7%, 93.4%, and 89.3%, respectively, all of which were higher than those of the YOLOv5 model and were more suitable for roadside grape recognition. Compared to the identification results obtained by the grape detection algorithm alone, the proposed synchronous algorithm increased the number of fruit identifications by 23.84% and the detection speed by 14.33%. This research enhanced the perception ability of robots and provided a solid support for behavioral decision systems.