农机化研究2024，Vol.46Issue(2)：38-43,6.
基于YOLOv3不同场景辣椒采摘机器人识别定位研究
Research on Recognition and Location of Pepper Picking Robot Based on YOLOv3 in Different Scenarios
摘要
Abstract
A recognition and location system based on YOLOv3 model and RealSense depth camera was constructed to study the effects of different light filling positions,shade of branches and leaves and overlapping degree of fruit on the recognition and location accuracy of pepper.The results show that the Recall,mean average precision(mAP)and preci-sion are 0.98,0.95 and 0.854 respectively.In different lighting scenes,the recognition success rate from high to low is forward light,top light,side light and backlight.The recognition success rate was about 96%when there was slight shade of branches and leaves and slight overlapping of fruits.The maximum comprehensive positioning error is 0.024m,which can meet the requirements of pepper picking identification and positioning accuracy.关键词
辣椒/采摘机器人/识别定位/YOLOv3Key words
pepper/picking robot/recognition and location/YOLOv3分类
农业科技引用本文复制引用
刘思幸,李爽,缪宏,柴岩,陈福康,王健,董佩璇..基于YOLOv3不同场景辣椒采摘机器人识别定位研究[J].农机化研究,2024,46(2):38-43,6.基金项目
国家特色蔬菜产业技术体系岗位专家项目(CARS-24-D-03) （CARS-24-D-03）
江苏省农业科技自主创新资金项目(CX(20)1005) （CX(20）
江苏省科技计划项目(BE2019348,BE2019345) （BE2019348,BE2019345）
