{"id":"https://openalex.org/W3036135061","doi":"https://doi.org/10.1109/access.2020.3003034","title":"Real-Time Visual Localization of the Picking Points for a Ridge-Planting Strawberry Harvesting Robot","display_name":"Real-Time Visual Localization of the Picking Points for a Ridge-Planting Strawberry Harvesting Robot","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3036135061","doi":"https://doi.org/10.1109/access.2020.3003034","mag":"3036135061"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3003034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003034","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09119372.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09119372.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101882997","display_name":"Yu Yang","orcid":"https://orcid.org/0000-0002-6360-7323"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yu","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6360-7323","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668618","display_name":"Kailiang Zhang","orcid":"https://orcid.org/0000-0002-8079-0174"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kailiang Zhang","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8079-0174","affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047851681","display_name":"Hui Liu","orcid":"https://orcid.org/0000-0003-1679-6560"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Liu","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031201228","display_name":"Yang Li","orcid":"https://orcid.org/0000-0001-8145-3834"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Yang","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003667421","display_name":"Dongxing Zhang","orcid":"https://orcid.org/0000-0002-2526-8391"},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongxing Zhang","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, China","institution_ids":["https://openalex.org/I52158045"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I52158045"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":17.6998,"has_fulltext":true,"cited_by_count":165,"citation_normalized_percentile":{"value":0.99378248,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"116556","last_page":"116568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12660","display_name":"Plant Disease Management Techniques","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10494","display_name":"Plant Virus Research Studies","score":0.9696000218391418,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6626626253128052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6226834058761597},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6158382892608643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5077463388442993},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5023396015167236},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4297887980937958},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4277094900608063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.419755756855011},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41925662755966187},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41539090871810913},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3585563600063324}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6626626253128052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6226834058761597},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6158382892608643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5077463388442993},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5023396015167236},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4297887980937958},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4277094900608063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.419755756855011},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41925662755966187},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41539090871810913},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3585563600063324},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3003034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003034","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09119372.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d92b871d612642d2810b75daefeeac00","is_oa":true,"landing_page_url":"https://doaj.org/article/d92b871d612642d2810b75daefeeac00","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 116556-116568 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3003034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3003034","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09119372.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2168066515","display_name":null,"funder_award_id":"61375189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3036135061.pdf","grobid_xml":"https://content.openalex.org/works/W3036135061.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1925668245","https://openalex.org/W1974365554","https://openalex.org/W1974962742","https://openalex.org/W1993925155","https://openalex.org/W2005597492","https://openalex.org/W2021020668","https://openalex.org/W2061051330","https://openalex.org/W2085729908","https://openalex.org/W2109255472","https://openalex.org/W2114688073","https://openalex.org/W2121763644","https://openalex.org/W2134016069","https://openalex.org/W2144898326","https://openalex.org/W2156585878","https://openalex.org/W2159584713","https://openalex.org/W2182292771","https://openalex.org/W2183182206","https://openalex.org/W2195554789","https://openalex.org/W2219980153","https://openalex.org/W2314451853","https://openalex.org/W2399118331","https://openalex.org/W2467954037","https://openalex.org/W2501369945","https://openalex.org/W2543665758","https://openalex.org/W2593539516","https://openalex.org/W2608799977","https://openalex.org/W2612445135","https://openalex.org/W2613718673","https://openalex.org/W2753703438","https://openalex.org/W2770383210","https://openalex.org/W2775250361","https://openalex.org/W2787273654","https://openalex.org/W2790979755","https://openalex.org/W2793069212","https://openalex.org/W2794915299","https://openalex.org/W2899609705","https://openalex.org/W2899968057","https://openalex.org/W2909494862","https://openalex.org/W2911010841","https://openalex.org/W2917973279","https://openalex.org/W2953151638","https://openalex.org/W2963037989","https://openalex.org/W2968952932","https://openalex.org/W2979404229","https://openalex.org/W2986499456","https://openalex.org/W3023648936","https://openalex.org/W3106228955","https://openalex.org/W3106250896","https://openalex.org/W4297775537","https://openalex.org/W6631782140","https://openalex.org/W6671992775","https://openalex.org/W6678262788","https://openalex.org/W6679952699","https://openalex.org/W6683868670","https://openalex.org/W6687116876","https://openalex.org/W6737664043","https://openalex.org/W6746383652","https://openalex.org/W6776293736","https://openalex.org/W6785652829","https://openalex.org/W7038028628"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"At":[0],"present,":[1],"the":[2,7,14,25,31,36,40,47,53,58,61,72,89,93,97,105,110,122,126,136,141,143,146,150,159,174,184,198,202,217,221,236,244,263,267],"primary":[3],"technical":[4,259],"deterrent":[5],"to":[6,23,34,103,134,180,187],"use":[8],"of":[9,30,46,52,60,92,145,149,165,168,201,229,235,255,266,270],"strawberry":[10,41,170],"harvesting":[11,69,219,245,271],"robots":[12],"is":[13,20],"low":[15],"harvest":[16],"rate,":[17],"and":[18,27,139,183,232],"there":[19],"a":[21,67,78,166],"need":[22],"improve":[24,57],"accuracy":[26,59,234],"real-time":[28,206,230],"performance":[29,226],"localization":[32,62,90,233],"algorithms":[33],"detect":[35],"picking":[37,94,237],"point":[38],"on":[39,197],"stem.":[42],"The":[43,116,162,253],"pose":[44,80],"estimation":[45],"fruit":[48,54,79,218],"target":[49,151,212,264],"(the":[50],"direction":[51],"axis)":[55],"can":[56],"algorithm.":[63],"This":[64],"study":[65,257],"proposes":[66],"novel":[68],"robot":[70],"for":[71,113,216,261],"ridge-planted":[73],"strawberries":[74],"as":[75,77,109],"well":[76],"estimator":[81],"called":[82],"rotated":[83,160],"YOLO":[84],"(R-YOLO),":[85],"which":[86],"significantly":[87],"improves":[88],"precision":[91],"points.":[95,238],"First,":[96],"lightweight":[98],"network":[99,108,112,118],"Mobilenet-V1":[100],"was":[101,132,153],"used":[102,133,215],"replace":[104],"convolution":[106],"neural":[107],"backbone":[111],"feature":[114],"extraction.":[115],"simplified":[117],"structure":[119],"substantially":[120],"increased":[121],"operating":[123],"speed.":[124],"Second,":[125],"rotation":[127,144],"angle":[128],"parameter":[129],"$\\alpha":[130],"$":[131],"label":[135],"training":[137],"set":[138,140,167],"anchors;":[142],"bounding":[147],"boxes":[148],"fruits":[152],"predicted":[154],"using":[155],"logistic":[156],"regression":[157],"with":[158,209],"anchors.":[161],"test":[163,240],"results":[164,241,254],"100":[169],"images":[171],"showed":[172,242],"that":[173,243],"proposed":[175,222],"model's":[176],"average":[177],"recognition":[178],"rate":[179,186,247],"be":[181,188],"94.43%":[182],"recall":[185],"93.46%.":[189],"Eighteen":[190],"frames":[191],"per":[192],"second":[193],"(FPS)":[194],"were":[195],"processed":[196],"embedded":[199,268],"controller":[200,269],"robot,":[203],"demonstrating":[204],"good":[205],"performance.":[207],"Compared":[208],"several":[210],"other":[211],"detection":[213,231,265],"methods":[214],"robots,":[220],"model":[223],"exhibited":[224],"better":[225],"in":[227,250],"terms":[228],"Field":[239],"success":[246],"reached":[248],"84.35%":[249],"modified":[251],"situations.":[252],"this":[256],"provide":[258],"support":[260],"improving":[262],"robots.":[272]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":36},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}