Yujie Chen, Aijing Shu, Zhanhao Liu, Yang Chen, Won Suk Lee, Yanchao Zhang
{"title":"SP-RTSD:用于机载机器人收割的边缘设备上的轻量级实时草莓检测","authors":"Yujie Chen, Aijing Shu, Zhanhao Liu, Yang Chen, Won Suk Lee, Yanchao Zhang","doi":"10.1002/rob.22582","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>On-board strawberry-picking robots offer the potential to significantly reduce labor costs and enhance picking efficiency. How to achieve high precision and fast strawberry recognition on resource-constrained edge devices is the key to robotic strawberry harvesting. Before developing our model, two lightweighting methods that maintain model structure are explored to substantiate the thesis that only judicious compression strategies tailored to edge hardware specifications can transform heavyweight deep models into efficient and compact deployments with enhanced performance on embedded devices. Based on this, and in combination with RTSD, Superb Real-time Strawberry Detection (SP-RTSD), which is designed to achieve faster and more accurate strawberry recognition on edge devices. Firstly, the C2f-Faster module performs channel-wise feature screening to enhance feature extraction efficiency while reducing model parameters; secondly, a lightweight recognition head with a parameter sharing mechanism is proposed specially for the edge devices. The speed of SP-RTSD was significantly improved by 22% from 20.63 to 25.18 FPS, which is similar to the 25.2 FPS of RTSD. Without changing the model structure, the model size is reduced by 40.3% from 6.2 to 3.7 MB. In contrast to typical lightweight strategies, which often boost inference speed at the cost of accuracy, SP-RTSD achieves exceptional accuracy with a mean average precision (mAP) of 91.7%, slightly outperforming the original baseline model (90.7%). The improvements in accuracy, speed, and size demonstrate that SP-RTSD addresses the challenge of balancing accuracy with inference speed on edge devices. In comparison experiments with other advanced object detection and lightweight models, as well as tests on additional open-source strawberry data sets, SP-RTSD consistently delivered superior results, affirming its robustness. Furthermore, SP-RTSD demonstrated an impressive combined success rate of 92% in strawberry grasping simulation experiments with a robotic arm, thereby confirming its suitability for integration into practical picking machines.</p>\n </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3361-3379"},"PeriodicalIF":5.2000,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"SP-RTSD: A Lightweight Real-Time Strawberry Detection on Edge Devices for Onboard Robotic Harvesting\",\"authors\":\"Yujie Chen, Aijing Shu, Zhanhao Liu, Yang Chen, Won Suk Lee, Yanchao Zhang\",\"doi\":\"10.1002/rob.22582\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n <p>On-board strawberry-picking robots offer the potential to significantly reduce labor costs and enhance picking efficiency. How to achieve high precision and fast strawberry recognition on resource-constrained edge devices is the key to robotic strawberry harvesting. Before developing our model, two lightweighting methods that maintain model structure are explored to substantiate the thesis that only judicious compression strategies tailored to edge hardware specifications can transform heavyweight deep models into efficient and compact deployments with enhanced performance on embedded devices. Based on this, and in combination with RTSD, Superb Real-time Strawberry Detection (SP-RTSD), which is designed to achieve faster and more accurate strawberry recognition on edge devices. Firstly, the C2f-Faster module performs channel-wise feature screening to enhance feature extraction efficiency while reducing model parameters; secondly, a lightweight recognition head with a parameter sharing mechanism is proposed specially for the edge devices. The speed of SP-RTSD was significantly improved by 22% from 20.63 to 25.18 FPS, which is similar to the 25.2 FPS of RTSD. Without changing the model structure, the model size is reduced by 40.3% from 6.2 to 3.7 MB. In contrast to typical lightweight strategies, which often boost inference speed at the cost of accuracy, SP-RTSD achieves exceptional accuracy with a mean average precision (mAP) of 91.7%, slightly outperforming the original baseline model (90.7%). The improvements in accuracy, speed, and size demonstrate that SP-RTSD addresses the challenge of balancing accuracy with inference speed on edge devices. In comparison experiments with other advanced object detection and lightweight models, as well as tests on additional open-source strawberry data sets, SP-RTSD consistently delivered superior results, affirming its robustness. Furthermore, SP-RTSD demonstrated an impressive combined success rate of 92% in strawberry grasping simulation experiments with a robotic arm, thereby confirming its suitability for integration into practical picking machines.</p>\\n </div>\",\"PeriodicalId\":192,\"journal\":{\"name\":\"Journal of Field Robotics\",\"volume\":\"42 7\",\"pages\":\"3361-3379\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-05-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Field Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rob.22582\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22582","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
SP-RTSD: A Lightweight Real-Time Strawberry Detection on Edge Devices for Onboard Robotic Harvesting
On-board strawberry-picking robots offer the potential to significantly reduce labor costs and enhance picking efficiency. How to achieve high precision and fast strawberry recognition on resource-constrained edge devices is the key to robotic strawberry harvesting. Before developing our model, two lightweighting methods that maintain model structure are explored to substantiate the thesis that only judicious compression strategies tailored to edge hardware specifications can transform heavyweight deep models into efficient and compact deployments with enhanced performance on embedded devices. Based on this, and in combination with RTSD, Superb Real-time Strawberry Detection (SP-RTSD), which is designed to achieve faster and more accurate strawberry recognition on edge devices. Firstly, the C2f-Faster module performs channel-wise feature screening to enhance feature extraction efficiency while reducing model parameters; secondly, a lightweight recognition head with a parameter sharing mechanism is proposed specially for the edge devices. The speed of SP-RTSD was significantly improved by 22% from 20.63 to 25.18 FPS, which is similar to the 25.2 FPS of RTSD. Without changing the model structure, the model size is reduced by 40.3% from 6.2 to 3.7 MB. In contrast to typical lightweight strategies, which often boost inference speed at the cost of accuracy, SP-RTSD achieves exceptional accuracy with a mean average precision (mAP) of 91.7%, slightly outperforming the original baseline model (90.7%). The improvements in accuracy, speed, and size demonstrate that SP-RTSD addresses the challenge of balancing accuracy with inference speed on edge devices. In comparison experiments with other advanced object detection and lightweight models, as well as tests on additional open-source strawberry data sets, SP-RTSD consistently delivered superior results, affirming its robustness. Furthermore, SP-RTSD demonstrated an impressive combined success rate of 92% in strawberry grasping simulation experiments with a robotic arm, thereby confirming its suitability for integration into practical picking machines.
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.