LAUSR

Using object detection techniques on immature fruits to find out their quantity and position is a crucial step for intelligent orchard management. A yellow peach target detection model (YOLOv7-Peach) based on the improved YOLOv7 was proposed to address the problem of immature yellow peach fruits in natural scenes that are similar in color to the leaves but have small sizes and are easily obscured, leading to low detection accuracy. First, the anchor frame information from the original YOLOv7 model was updated by the K-means clustering algorithm in order to generate anchor frame sizes and proportions suitable for the yellow peach dataset; second, the CA (coordinate attention) module was embedded into the backbone network of YOLOv7 so as to enhance the network’s feature extraction for yellow peaches and to improve the detection accuracy; then, we accelerated the regression convergence process of the prediction box by replacing the object detection regression loss function with EIoU. Finally, the head structure of YOLOv7 added the P2 module for shallow downsampling, and the P5 module for deep downsampling was removed, effectively improving the detection of small targets. Experiments showed that the YOLOv7-Peach model had a 3.5% improvement in mAp (mean average precision) over the original one, much higher than that of SSD, Objectbox, and other target detection models in the YOLO series, and achieved better results under different weather conditions and a detection speed of up to 21 fps, suitable for real-time detection of yellow peaches. This method could provide technical support for yield estimation in the intelligent management of yellow peach orchards and also provide ideas for the real-time and accurate detection of small fruits with near background colors.