The invention specifically relates to a
fruit tree trunk identification and positioning method based on binocular
machine vision, and relates to the technical field of autonomous operation of intelligent agricultural equipment, and the method comprises the steps: 1, creating and preprocessing a
data set; step 2, carrying out optimization construction on a YOLOv7-tiny
trunk identification model; 3, training a
trunk identification model; 4, evaluating the trunk identification model; 5, detecting a trunk identification model; and 6, constructing a positioning model and solving the position of the trunk. According to the method, the
tree trunk recognition performance is remarkably improved through multi-dimensional optimization, and the core
advantage is reflected in the balance of recognition precision and operation efficiency;
data set construction covers single independent, high and dwarf, complex illumination background and other multi-element scenes, the data robustness is high after HSV enhancement, overturning and other
processing, and a foundation is laid for accurate recognition; in terms of model improvement, a PConv module replaces conventional
convolution to reduce calculation redundancy, and a SimAM attention mechanism strengthens
tree trunk key features, so that the improved YOLOv7-tiny model is optimal in an
ablation experiment.