华南农业大学学报2026，Vol.47Issue(1)：118-127,10.DOI:10.7671/j.issn.1001-411X.202504031
基于改进YOLOv8n-pose的巨峰葡萄采摘定位方法
An picking localization method for Kyoho grape based on improved YOLOv8n-pose model
摘要
Abstract
[Objective]To accurately and efficiently localize the picking position of Kyoho grapes so as to effectively reduce fruit damage.[Method]A grape picking localization method based on improved YOLOv8n-pose was proposed.Firstly,the improved YOLOv8n-pose was utilized to detect keypoints of the grape stem and the vulnerable grapes at the top.Based on the coordinates of these keypoints,a characteristic vector representing the upper boundary pose of the grapes was constructed.This vector was then used to calculate the optimal picking angle.Finally,the optimal picking position was determined through the synergy of the picking point and picking angle.[Result]Experimental results showed that the precision(P),recall(R),mAP@0.50 and mAP@0.50-0.95 of the improved YOLOv8n-pose increased by 1.7,0.7,0.9 and 1.7 percentage points respectively compared to the original model,and increased by 0.4,0.1,0.6 and 2.7 percentage points respectively compared to YOLOv12s-pose.Meanwhile,the number of model parameters was reduced by 5.8%compared to YOLOv8n-pose.The successful localization rate using the proposed method reached 90.8%,which was an improvement of 9.2 percentage points over methods that did not use the picking angle.[Conclusion]This study provides a low-damage picking localization method for Kyoho grape harvesting robots.关键词
巨峰葡萄/YOLOv8-pose/关键点检测/采摘定位/采摘角度Key words
Kyoho grape/YOLOv8-pose/Keypoint detection/Picking localization/Picking angle分类
信息技术与安全科学引用本文复制引用
陈馨,吴子炜,周素茵,夏芳..基于改进YOLOv8n-pose的巨峰葡萄采摘定位方法[J].华南农业大学学报,2026,47(1):118-127,10.基金项目
浙江省哲学社会科学规划基金(23NDJC193YB) （23NDJC193YB）
浙江省基础公益研究计划(LGN22D010003) （LGN22D010003）
