DNE-YOLO: A method for apple fruit detection in Diverse Natural Environments

Abstract

The apple industry, recognized as a pivotal sector in agriculture, increasingly emphasizes the mechanization and intelligent advancement of picking technology. This study innovatively applies a mist simulation algorithm to apple image generation, constructing a dataset of apple images under mixed sunny, cloudy, drizzling and foggy weather conditions called DNE-APPLE. It introduces a lightweight and efficient target detection network called DNE-YOLO. Building upon the YOLOv8 base model, DNE-YOLO incorporates the CBAM attention mechanism and CARAFE up-sampling operator to enhance the focus on apples. Additionally, it utilizes GSConv and the dynamic non-monotonic focusing mechanism loss function WIOU to reduce model parameters and decrease reliance on dataset quality. Extensive experimental results underscore the efficacy of the DNE-YOLO model, which achieves a detection accuracy (precision) of 90.7%, a recall of 88.9%, a mean accuracy (mAP50) of 94.3%, a computational complexity (GFLOPs) of 25.4G, and a parameter count of 10.46M across various environmentally diverse datasets. Compared to YOLOv8, it exhibits superior detection accuracy and robustness in sunny, drizzly, cloudy, and misty environments, making it especially suitable for practical applications such as apple picking for agricultural robots. The code for this model is open source at https://github.com/wuhaitao2178827/DNE-YOLO.