The invention relates to a fruit picking
robot target detection method based on
deep learning in an unstructured environment, and belongs to the technical field of intelligent agricultural production.According to the method, a
Mask R-CNN is used as a target detection framework, ResNet-101 is used as a
backbone network and is combined with an FPN architecture to perform target
feature extraction,then a feature map output by the
backbone network is sent to an RPN to generate RoI, and then the RoI output from the RPN is mapped to extract corresponding target features in a shared feature map; and finally, the features are respectively output to an FC layer and an FCN layer to carry out target detection, frame regression and instance segmentation. According to the method, the problem of low detection precision caused by illumination condition change,
branch and leaf shielding, fruit clustering overlapping and the like of a traditional
digital image processing technology in an unstructuredenvironment is solved, and the defects of complex structure, slow gradient disappearance, large calculation training amount, slow model convergence and the like of a common target detection neural network are also overcome.