The segmentation and localization of Agaricus bisporus is a precondition for its automatic harvesting. A. bisporus growth clusters can present challenges for precise localization and segmentation because of adhesion and overlapping. A low-cost image stitching system is presented in this research, utilizing a quick stitching method with disparity correction to produce high-precision panoramic dual-modal fusion images. An enhanced technique called Real-Time Models for Object Detection and Instance Segmentation (RTMDet-Ins) is suggested. This approach utilizes SimAM Attention Module’s (SimAM) global attention mechanism and the lightweight feature fusion module Space-to-depth Progressive Asymmetric Feature Pyramid Network (SPD-PAFPN) to improve the detection capabilities for hidden A. bisporus. It efficiently deals with challenges related to intricate segmentation and inaccurate localization in complex obstacles and adhesion scenarios. The technology has been verified by 96 data sets collected on a self-designed fully automatic harvesting robot platform. Statistical analysis shows that the worldwide stitching error is below 2 mm in the area of 1200 mm × 400 mm. The segmentation method demonstrates an overall precision of 98.64%. The planar mean positioning error is merely 0.31%. The method promoted in this research demonstrates improved segmentation and localization accuracy in a challenging harvesting setting, enabling efficient autonomous harvesting of A. bisporus.

Real-time automatic detection of microcracks in eggs is crucial for ensuring egg quality and safety, yet rapid detection of micron-scale cracks remains challenging. This study introduces a real-time ConvNext-Based U-Net model with Feature Infusion (CBU-FI Net) for egg microcrack detection. Leveraging edge features and spatial continuity of cracks, we incorporate an edge feature infusion module in the encoder and design a multi-scale feature aggregation strategy in the decoder to enhance the extraction of both local details and global semantic information. By introducing large convolution kernels and depth-wise separable convolution from ConvNext, the model significantly reduces network parameters compared to the original U-Net. Additionally, a composite loss function is devised to address class imbalance issues. Experimental results on a dataset comprising over 3400 graded egg microcrack image patches demonstrate that CBU-FI Net achieves a reduction in parameters to one-third the amount in the original U-Net, with an inference speed of 21 ms per image (1 million pixels). The model achieves a Crack-IoU of 65.51% for microcracks smaller than 20 $\mathsf{\mu }$m and a Crack-IoU and MIoU of 60.76% and 80.22%, respectively, for even smaller cracks (less than 5 $\mathsf{\mu }$m), achieving high-precision, real-time detection of egg microcracks. Furthermore, on the publicly benchmarked CrackSeg9k dataset, CBU-FI Net achieves an inference speed of 4 ms for 400 × 400 resolution images, with an MIoU of 81.38%, proving the proposed method’s robustness and generalization capability across various cracks and complex backgrounds.

Fringe projection profilometry (FPP), with benefits such as high precision and a large depth of field, is a popular 3D optical measurement method widely used in precision reconstruction scenarios. However, the pixel brightness at reflective edges does not satisfy the conditions of the ideal pixel-wise phase-shifting model due to the influence of scene texture and system defocus, resulting in severe phase errors. To address this problem, we theoretically analyze the non-pixel-wise phase propagation model for texture edges and propose a reprojection strategy based on scene texture modulation. The strategy first obtains the reprojection weight mask by projecting typical FPP patterns and calculating the scene texture reflection ratio, then reprojects stripe patterns modulated by the weight mask to eliminate texture edge effects, and finally fuses coarse and refined phase maps to generate an accurate phase map. We validated the proposed method on various texture scenes, including a smooth plane, depth surface, and curved surface. Experimental results show that the root mean square error (RMSE) of the phase at the texture edge decreased by 53.32%, proving the effectiveness of the reprojection strategy in eliminating depth errors at texture edges.

Severe reflections on the surfaces of smooth objects can result in low dynamic range and uneven illumination in images, which negatively impacts downstream tasks such as defect detection and QR code recognition on images of smooth workpieces. Consequently, this paper proposes a novel approach to real-time high dynamic equalization imaging based on a fully convolutional network, termed Multi-exposure Image Fusion with Multi-dimensional Attention Mechanism and Training Storage Units (MEF-AT). Specifically, this paper innovatively proposes using training storage units, which utilize intermediate results during network training as auxiliary images, to remove uneven illumination and enhance image dynamic range effectively. Furthermore, by integrating a multi-dimensional attention mechanism into the backbone network, the model can more efficiently extract and utilize critical image information. Additionally, this paper introduces a Deep Guided Filter (DGF) with learnable parameters, which upsample the weight maps generated by the network, thus better adapting to complex industrial scenarios and producing higher quality fused images. An image evaluation metric assessing the lighting uniformity is introduced to thoroughly evaluate the proposed method’s performance. Given the lack of an MEF dataset for smooth workpieces, this paper collects a new dataset for multi-exposure fusion tasks on metallic workpieces. Our method takes less than 4 ms to run four 2K images on a GPU 3090. Both qualitative and quantitative experimental results demonstrate our method’s superior comprehensive performance in proprietary industrial and public datasets.