农业机械学报2026，Vol.57Issue(12)：80-89,10.DOI:10.6041/j.issn.1000-1298.2026.12.007
基于改进YOLO 11的烟苗垄作行导航线提取方法
Extraction Method of Navigation Lines for Tobacco Seedling Ridged Rows Based on Improved YOLO 11
摘要
Abstract
Aiming to address the problems of low detection accuracy and large model parameter size in field visual navigation for tobacco seedlings before the rosette stage,a ridge crop row navigation line extraction method was proposed based on an improved YOLO 11.This approach effectively compressed the model size and enhanced the navigation precision of field mobile platforms.To address the tobacco seedling target detection task,a NewBlock module was designed and a LightAttention mechanism was introduced to respectively enhance the feature extraction capability and lightweight performance of the YOLO 11 backbone network,thereby improving detection performance.The BiFPN_ADown fusion structure was constructed to replace the PANet in the Neck,achieving a balance between parameter compression and feature preservation.The Canny edge detection algorithm was employed to extract the external contours of tobacco seedlings and calculate their centroids.Subsequently,combined with the least squares method,precise fitting of the crop row navigation lines was achieved.The ablation experiment results demonstrated that the improved model achieved increases of 3.9,0.8,and 1.9 percentage points in precision,recall,and mean average precision,respectively,while reducing computational complexity by 47.62%.Validation results for crop ridge navigation line fitting indicated an average angle error of 0.91° and a distance error of 11.78 pixels.In complex farmland environments,the proposed algorithm exhibited superior comprehensive performance by effectively balancing detection speed and accuracy,providing a solution for the visual navigation of field robots in tobacco and other ridge crop operations.关键词
烟苗/垄作行检测/导航线提取/改进YOLO 11/边缘检测Key words
tobacco seedlings/row detection/navigation line extraction/improved YOLO 11/edge detection分类
信息技术与安全科学引用本文复制引用
张秀丽,胡阔,仝振伟,周林,周培林,刘剑君,陈永..基于改进YOLO 11的烟苗垄作行导航线提取方法[J].农业机械学报,2026,57(12):80-89,10.基金项目
河南省科技攻关项目(242102110349)、河南省自然科学基金项目(252300421922)和中国烟草总公司河南省公司重大科技专项(2024410000240026) （242102110349）
