Real-time vineyard trunk detection for a grapes harvesting robot via deep learning

Eftichia Badeka; Theofanis Kalampokas; Eleni Vrochidou; Konstantinos Tziridis; George Papakostas; Theodore Pachidis; Vassilis Kaburlasos

doi:10.1117/12.2586794

4 January 2021 Real-time vineyard trunk detection for a grapes harvesting robot via deep learning

Eftichia Badeka, Theofanis Kalampokas, Eleni Vrochidou, Konstantinos Tziridis, George Papakostas, Theodore Pachidis, Vassilis Kaburlasos

Author Affiliations +

Proceedings Volume 11605, Thirteenth International Conference on Machine Vision; 116051D (2021) https://doi.org/10.1117/12.2586794
Event: Thirteenth International Conference on Machine Vision, 2020, Rome, Italy

Abstract

Research and development in agricultural robots are continuously increasing. However, dynamically changing agricultural environments provide adverse conditions to robotics operability. In order to perform the agricultural tasks safely and accurately, reliable landmarks from the surrounding environment need to be identified. In this work, deep learning is employed for accurate and fast detection of high-level features of vineyards, the vine trunks. More specifically, Faster regions-convolutional neural network (Faster R-CNN), You Only Look Once version 3 (YOLOv3) and YOLOv5 are tested for real-time vine trunk detection. The models are trained with an in-house dataset designed for the needs of this study, containing 1927 annotated vine trunks in 899 different images. Comparative results indicate YOLOv5 as the configuration that allows the faster and most accurate vine trunk detection, achieving an overall Average Precision of 73.2% in 29.6 ms. The high precision combined with the fast runtime performance prove that the YOLOv5 detector is suitable for real-time vine trunk detection executed by an autonomous harvesting robot.

Citation Download Citation

Eftichia Badeka, Theofanis Kalampokas, Eleni Vrochidou, Konstantinos Tziridis, George Papakostas, Theodore Pachidis, and Vassilis Kaburlasos "Real-time vineyard trunk detection for a grapes harvesting robot via deep learning", Proc. SPIE 11605, Thirteenth International Conference on Machine Vision, 116051D (4 January 2021); https://doi.org/10.1117/12.2586794

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available