The accuracy, speed, and robustness of object detection and recognition are directly related to the harvesting efficiency, quality, and speed of fruit and vegetable harvesting robots. In order to explore the development status of object detection and recognition techniques for fruit and vegetable harvesting robots based on digital image processing and traditional machine learning, this article summarizes and analyzes some representative methods. This article also demonstrates the current challenges and future potential developments. This work aims to provide a reference for future research on object detection and recognition techniques for fruit and vegetable harvesting robots based on digital image processing and traditional machine learning.

This study aimed to rapidly and accurately identify geographical origin, tree species, and model wood density using visible and near infrared (Vis-NIR) spectroscopy coupled with chemometric methods. A total of 280 samples with two origins (Jilin and Heilongjiang province, China), and three species, Dahurian larch (Larix gmelinii (Rupr.) Rupr.), Japanese elm (Ulmus davidiana Planch. var. japonica Nakai), and Chinese white poplar (Populus tomentosa carriere), were collected for classification and prediction analysis. The spectral data were de-noised using lifting wavelet transform (LWT) and linear and nonlinear models were built from the de-noised spectra using partial least squares (PLS) and particle swarm optimization (PSO)-support vector machine (SVM) methods, respectively. The response surface methodology (RSM) was applied to analyze the best combined parameters of PSO-SVM. The PSO-SVM model was employed for discrimination of origin and species. The identification accuracy for tree species using wavelet coefficients were better than models developed using raw spectra, and the accuracy of geographical origin and species was greater than 98% for the prediction dataset. The prediction accuracy of density using wavelet coefficients was better than that of constructed spectra. The PSO-SVM models optimized by RSM obtained the best results with coefficients of determination of the calibration set of 0.953, 0.974, 0.959, and 0.837 for Dahurian larch, Japanese elm, Chinese white poplar (Jilin), and Chinese white poplar (Heilongjiang), respectively. The results showed the feasibility of Vis-NIR spectroscopy coupled with chemometric methods for determining wood property and geographical origin with simple, rapid, and non-destructive advantages.

In order to explore the ever-changing law of soil organic matter (SOM) content in the forest of the Greater Khingan Mountains, a prediction model of the SOM content with a high accuracy and stability has been developed based on visible near-infrared (VIS-NIR) technology and multiple regression analysis. A total of 105 soil samples were collected from Cuifeng forest farm in Jagdaqi City, Greater Khingan Mountains region, Heilongjiang Province, China. Five classical preprocessing algorithms, including Savitzky−Golay convolution smoothing (S-G smoothing), standard normal variate transformation (SNV), multiplicative scatter correction (MSC), first derivative, second derivative, and the combinations of the above five methods were applied to the raw spectra. Wavelengths were optimized with five methods of competitive adaptive reweighted sampling (CARS), successive projections algorithm (SPA), uninformative variable elimination (UVE), synergy interval partial least square (SiPLS), and their combinations, and PLS models were developed accordingly. The results showed that when S-G smoothing is combined with SNV or MSC, both preprocessing strategies can improve the performance of the model. The prediction accuracy of SiPLS-PLS model and SiPLS-UVE-PLS model for the SOM content is higher than for other models, withan Rc² of 0.9663 and 0.9221, RMSEC of 0.0645 and 0.0981, Rv² of 0.9408 and 0.9270, and RMSEV of 0.0615 and 0.0683, respectively. The pretreatment strategies and characteristic variable selection methods used in this study could significantly improve the model performance and predicting efficiency.

Wood density is a key indicator for tree functionality and end utilization. Appropriate chemometric methods play an important role in the successful prediction of wood density by visible and near infrared (Vis-NIR) spectroscopy. The objective of this study was to select appropriate pre-processing, variable selection and multivariate calibration techniques to improve the prediction accuracy of density in Chinese white poplar (Populus tomentosa carriere) wood. The Vis-NIR spectra were de-noised using four methods (lifting wavelet transform, LWT; wavelet transform, WT; multiplicative scatter correction, MSC; and standard normal variate, SNV), and four variable selection techniques, including successive projections algorithm (SPA), uninformative variables elimination (UVE), competitive adaptive reweighted sampling (CARS) and iteratively retains informative variables (IRIV), were compared to simplify the dimension of the high-dimensional spectral matrix. The non-linear models of generalized regression neural network (GRNN) and support vector machine (SVM) were performed using these selected variables. The results showed that the best prediction was obtained by GRNN models combined with the LWT and CARS method for Chinese white poplar wood density ($R_p^2$ = 0.870; RMSEP = 13 Kg/m³; ${\mathrm{RPD}}_p$ = 2.774).