Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector
This study researches the usage of YOLOv4 for real-time loose fruit detection in oil palm plantations as the first step in implementing automation in the collection of loose fruits. Our system leverages high-resolution video data (4K and 1080p) from various plantation settings. To address the challe...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2024
|
| Online Access: | http://psasir.upm.edu.my/id/eprint/113876/ http://psasir.upm.edu.my/id/eprint/113876/1/113876.pdf |
| _version_ | 1848866346769580032 |
|---|---|
| author | Japar, Ahmed Fareed Ramli, Hafiz Rashidi Norsahperi, Nor Mohd Haziq Wan Hasan, Wan Zuha |
| author_facet | Japar, Ahmed Fareed Ramli, Hafiz Rashidi Norsahperi, Nor Mohd Haziq Wan Hasan, Wan Zuha |
| author_sort | Japar, Ahmed Fareed |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This study researches the usage of YOLOv4 for real-time loose fruit detection in oil palm plantations as the first step in implementing automation in the collection of loose fruits. Our system leverages high-resolution video data (4K and 1080p) from various plantation settings. To address the challenges of small and numerous loose fruits, we introduced an image preprocessing technique called “image tiling” into the vision system workflow and studied the effects this has on the performance of the detection model. This involves dividing the image into smaller sections for individual processing by both YOLOv4 and YOLOv4-tiny models, enhancing detection accuracy. Refined models (YOLOv4-tiling and YOLOv4-tiny-tiling) are then evaluated. YOLOv4 achieved the highest precision (97%) and F1-score (86.3%), while YOLOv4-tiling offered a slight improvement in recall (80.8%). Notably, YOLOv4-tiny, initially underperforming (precision: 37.2%, recall: 20.9%, F1-score: 25%), showed significant improvement with tiling (precision: 90.5%, recall: 67.1%, F1-score: 73.8%). Also, replacing the SPP layer in YOLOv4 with SPP-Fast resulted in increased precision (92.6%) and a significantly improved F1-score of 91.4%. This vision system was then integrated with a custom designed Loose Fruit Collector Robot through the Robot Operating System (ROS). |
| first_indexed | 2025-11-15T14:19:09Z |
| format | Article |
| id | upm-113876 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T14:19:09Z |
| publishDate | 2024 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-1138762025-02-05T03:35:13Z http://psasir.upm.edu.my/id/eprint/113876/ Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector Japar, Ahmed Fareed Ramli, Hafiz Rashidi Norsahperi, Nor Mohd Haziq Wan Hasan, Wan Zuha This study researches the usage of YOLOv4 for real-time loose fruit detection in oil palm plantations as the first step in implementing automation in the collection of loose fruits. Our system leverages high-resolution video data (4K and 1080p) from various plantation settings. To address the challenges of small and numerous loose fruits, we introduced an image preprocessing technique called “image tiling” into the vision system workflow and studied the effects this has on the performance of the detection model. This involves dividing the image into smaller sections for individual processing by both YOLOv4 and YOLOv4-tiny models, enhancing detection accuracy. Refined models (YOLOv4-tiling and YOLOv4-tiny-tiling) are then evaluated. YOLOv4 achieved the highest precision (97%) and F1-score (86.3%), while YOLOv4-tiling offered a slight improvement in recall (80.8%). Notably, YOLOv4-tiny, initially underperforming (precision: 37.2%, recall: 20.9%, F1-score: 25%), showed significant improvement with tiling (precision: 90.5%, recall: 67.1%, F1-score: 73.8%). Also, replacing the SPP layer in YOLOv4 with SPP-Fast resulted in increased precision (92.6%) and a significantly improved F1-score of 91.4%. This vision system was then integrated with a custom designed Loose Fruit Collector Robot through the Robot Operating System (ROS). Institute of Electrical and Electronics Engineers Inc. 2024-08-21 Article PeerReviewed text en cc_by_nc_nd_4 http://psasir.upm.edu.my/id/eprint/113876/1/113876.pdf Japar, Ahmed Fareed and Ramli, Hafiz Rashidi and Norsahperi, Nor Mohd Haziq and Wan Hasan, Wan Zuha (2024) Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector. IEEE Access, 12. pp. 138582-138593. ISSN 2169-3536; eISSN: 2169-3536 https://ieeexplore.ieee.org/document/10643084/ 10.1109/ACCESS.2024.3446890 |
| spellingShingle | Japar, Ahmed Fareed Ramli, Hafiz Rashidi Norsahperi, Nor Mohd Haziq Wan Hasan, Wan Zuha Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title | Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title_full | Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title_fullStr | Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title_full_unstemmed | Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title_short | Oil palm loose fruit detection using YOLOv4 for an autonomous mobile robot collector |
| title_sort | oil palm loose fruit detection using yolov4 for an autonomous mobile robot collector |
| url | http://psasir.upm.edu.my/id/eprint/113876/ http://psasir.upm.edu.my/id/eprint/113876/ http://psasir.upm.edu.my/id/eprint/113876/ http://psasir.upm.edu.my/id/eprint/113876/1/113876.pdf |