Grapefruit and stem detection play a crucial role in automated grape harvesting. However, the dense arrangement of fruits in vineyards and the similarity in color between grape stems and branches pose challenges, often leading to missed or false detections in most existing models. Furthermore, these models’ substantial parameters and computational demands result in slow detection speeds and difficulty deploying them on mobile devices. Therefore, we propose a lightweight TiGra-YOLOv8 model based on YOLOv8n. Initially, we integrated the Attentional Scale Fusion (ASF) module into the Neck, enhancing the network’s ability to extract grape features in dense orchards. Subsequently, we employed Adaptive Training Sample Selection (ATSS) as the label-matching strategy to improve the quality of positive samples and address the challenge of detecting grape stems with similar colors. We then utilized the Weighted Interpolation of Sequential Evidence for Intersection over Union (Wise-IoU) loss function to overcome the limitations of CIoU, which does not consider the geometric attributes of targets, thereby enhancing detection efficiency. Finally, the model’s size was reduced through channel pruning. The results indicate that the TiGra-YOLOv8 model’s mAP(0.5) increased by 3.33% compared to YOLOv8n, with a 7.49% improvement in detection speed (FPS), a 52.19% reduction in parameter count, and a 51.72% decrease in computational demand, while also reducing the model size by 45.76%. The TiGra-YOLOv8 model not only improves the detection accuracy for dense and challenging targets but also reduces model parameters and speeds up detection, offering significant benefits for grape detection.
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