Detecting Apples in Orchards Using YOLOv3

摘要

A machine vision system for detecting apples in orchards was developed. The system designed for use in harvesting robots is based on a YOLOv3 algorithm modification with pre- and postprocessing. As a result, apples that are blocked by leaves and branches, green apples on a green background, darkened apples are detected. Apple detection time averaged 19 ms with 90.8% Recall (fruit detection rate), and 7.8% FPR.