The tea industry is one of China’s most important industries. The picking of famous tea still relies on manual methods, with low efficiency, labor shortages and high labor costs, which restrict the development of the tea industry. These labor-intensive picking methods urgently need to be transformed into intelligent and automated picking. In response to difficulties in identification of tea buds and positioning of picking points, this study took the one bud with one leaf grade of the Fuyun 6 tea species under complex background as the research object, and proposed a method based on deep learning, combining object detection and semantic segmentation networks, to first detect the tea buds, then segment the picking area from the tea bud detection box, and then obtain the picking point from the picking area. An improved YOLOX-tiny model and an improved PSP-net model were used to detect tea buds and their picking areas, respectively; the two models were combined at the inference end, and the centroid of the picking area was taken as the picking point. The YOLOX-tiny model for tea bud detection was modified by replacing its activation function with the Mish function and using a content-aware reassembly of feature module to implement the upsampling operation. The detection effects of the YOLOX-tiny model were improved, and the mean average precision and recall rate of the improved model reached 97.42% and 95.09%, respectively. This study also proposed an improved PSP-net semantic segmentation model for segmenting the picking area inside a detection box. The PSP-net was modified by replacing its backbone network with the lightweight network MobileNetV2 and by replacing conventional convolution in its feature fusion part with Omni-Dimensional Dynamic Convolution. The model’s lightweight characteristics were significantly improved and its segmentation accuracy for the picking area was also improved. The mean intersection over union and mean pixel accuracy of the improved PSP-net model are 88.83% and 92.96%, respectively, while its computation and parameter amounts are reduced by 95.71% and 96.10%, respectively, compared to the original PSP-net. The method proposed in this study achieves a mean intersection over union and mean pixel accuracy of 83.27% and 86.51% for the overall picking area segmentation, respectively, and the detecting rate of picking point identification reaches 95.6%. Moreover, its detection speed satisfies the requirements of real-time detection, providing a theoretical basis for the automated picking of famous tea.

Rapid and precise tree Diameter at Breast Height (DBH) measurement is pivotal in forest inventories. While the recent advancements in LiDAR and Structure from Motion (SFM) technologies have paved the way for automated DBH measurements, the significant equipment costs and the complexity of operational procedures continue to constrain the ubiquitous adoption of these technologies for real-time DBH assessments. In this research, we introduce KAN-Forest, a real-time DBH measurement and key point localization algorithm utilizing RGB-D (Red, Green, Blue-Depth) imaging technology. Firstly, we improved the YOLOv5-seg segmentation module with a Channel and Spatial Attention (CBAM) module, augmenting its efficiency in extracting the tree’s edge features in intricate forest scenarios. Subsequently, we devised an image processing algorithm for real-time key point localization and DBH measurement, leveraging historical data to fine-tune current frame assessments. This system facilitates real-time image data upload via wireless LAN for immediate host computer processing. We validated our approach on seven sample plots, achieving ${}^{bb}A{P}_{50}$ and ${}^{seg}A{P}_{50}$ scores of: $90.0{\%}_{(+3.0\%)}$, $90.9{\%}_{(+0.9\%)}$, respectively with the improved YOLOv5-seg model. The method exhibited a DBH estimation RMSE of 17.61∼54.96 mm ($R^2=0.937$), and secured 78% valid DBH samples at a 59 FPS. Our system stands as a cost-effective, portable, and user-friendly alternative to conventional forest survey techniques, maintaining accuracy in real-time measurements compared to SFM- and LiDAR-based algorithms. The integration of WLAN and its inherent scalability facilitates deployment on Unmanned Ground Vehicles (UGVs) to improve the efficiency of forest inventory. We have shared the algorithms and datasets on Github for peer evaluations.

Sweetpotatoes grading, particularly for defects, is a labor-intensive operation and often constrained by inconsistencies in manual inspection. To facilitate the development of automated quality grading systems, this article presents a unique, unified machine vision dataset specifically for multi-view quality inspection and grading of sweetpotatoes. The dataset consolidates data derived from two independent experimental campaigns to enhance diversity in sample characteristics and imaging conditions. It comprises the data of 390 samples divided into two subsets; Subset A consists of 123 fresh-market sweetpotatoes sourced from grocery stores and imaged under ambient indoor lighting at a resolution of 1920 × 1080 pixels, and Subset B includes 267 sweetpotatoes of two varieties harvested from a research station and imaged in an enclosed chamber under controlled illumination at a resolution of 1280 × 720 pixels. In both subsets, sweetpotato samples were rotated on a custom-designed roller conveyor for multi-view imaging, and RGB (red-green-blue) frames were extracted from recorded video streams and labeled for individual sweetpotato instances. The curated dataset contains a total of 1400 images (Subset A: 232, Subset B: 1168) with 3700 annotated instances, along with 39 raw video recordings as well as physical measurements. Each instance is labeled with a polygon segmentation mask and assigned a quality grade (Grade 1, Grade 2, or Grade 3) based on surface defect severity. This dataset represents the first publicly available machine vision dataset dedicated to automated sweetpotato grading. It provides a diverse and valuable resource for training and evaluating computer vision algorithms and models for instance segmentation and surface-quality assessment of sweetpotatoes and beyond.

Fog interference is an unfavorable issue when using vision sensors to monitor forest environmental resources. The existence of fog causes intelligent forest vision sensor equipment to fail to obtain accurate information on environmental resources. Therefore, this study proposes a lightweight forest scene image dehazing network to remove fog interference from the vision system. To deal with the extraction of detailed forest image features, we propose utilizing joint image priors including white balance, contrast, and gamma correction feature maps as inputs of the network to strengthen the learning ability of the deep network. Focusing on reducing the computational cost of the network, four different kinds of Ghost Bottleneck blocks, which adopt an SE attention mechanism to better learn the abundant forest image features for our network, are adopted. Moreover, a lightweight upsampling module combining a bilinear interpolation method and a convolution operation is proposed, thus reducing the computing space used by the fog removal module in the intelligent equipment. In order to adapt to the unique color and texture features of forest scene images, the cost function consisting of $L_1$ loss and multi-scale structural similarity (MS-SSIM) loss is specially designed to train the proposed network. The experimental results show that our proposed method obtains more natural visual effects and better evaluation indices. The proposed network is trained both on indoor and outdoor synthetic datasets and tested on synthetic and real foggy images. The PSNR achieves an average value of 26.00 dB and SSIM achieves 0.96 on the indoor synthetic dataset, while PSNR achieves an average value of 25.58 dB and SSIM achieves 0.94 on the outdoor synthetic test images. The average processing time of our proposed dehazing network for a single foggy image with a size of 480 × 640 is 0.26 s.

At present, fruit picking mainly relies on manual operation. Taking the litchi (litchi chinensis Sonn.)-picking robot as an example, visual perception is often affected by illumination variations, low recognition accuracy, complex maturity judgment, and occlusion, which lead to inaccurate fruit localization. This study aims to establish an embodied perception mechanism based on “perception-reasoning-execution” to enhance the visual perception and decision-making capability of the robot in complex orchard environments. First, a Y-LitchiC instance segmentation method is proposed to achieve high-precision segmentation of litchi clusters. Second, a generative artificial intelligence model is introduced to intelligently assess fruit maturity and occlusion, providing auxiliary support for automatic picking. Based on the auxiliary judgments provided by the generative AI model, two types of dynamic harvesting decisions are formulated for subsequent operations. For unoccluded main fruit-bearing branches, a skeleton thinning algorithm is applied within the segmented region to extract the skeleton line, and the midpoint of the skeleton is used to perform the first type of localization and harvesting decision. In contrast, for main fruit-bearing branches occluded by leaves, threshold-based segmentation combined with maximum connected component extraction is employed to obtain the target region, followed by skeleton thinning, thereby completing the second type of dynamic picking decision. Experimental results show that the Y-LitchiC model improves the mean average precision (mAP) by 1.6% compared with the YOLOv11s-seg model, achieving higher accuracy in litchi cluster segmentation and recognition. The generative artificial intelligence model provides higher-level reasoning and decision-making capabilities for automatic picking. Overall, the proposed embodied perception mechanism and dynamic picking strategies effectively enhance the autonomous perception and decision-making of the picking robot in complex orchard environments, providing a reliable theoretical basis and technical support for accurate fruit localization and precision picking.