{"id":"https://openalex.org/W3158114921","doi":"https://doi.org/10.3390/rs13091619","title":"A Real-Time Apple Targets Detection Method for Picking Robot Based on Improved YOLOv5","display_name":"A Real-Time Apple Targets Detection Method for Picking Robot Based on Improved YOLOv5","publication_year":2021,"publication_date":"2021-04-21","ids":{"openalex":"https://openalex.org/W3158114921","doi":"https://doi.org/10.3390/rs13091619","mag":"3158114921"},"language":"en","primary_location":{"id":"doi:10.3390/rs13091619","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13091619","pdf_url":"https://www.mdpi.com/2072-4292/13/9/1619/pdf","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/13/9/1619/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047637832","display_name":"Bin Yan","orcid":"https://orcid.org/0000-0002-2233-0065"},"institutions":[{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Yan","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","Shannxi Key Laboratory of Apple, Yangling 712100, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","institution_ids":["https://openalex.org/I89652312"]},{"raw_affiliation_string":"Shannxi Key Laboratory of Apple, Yangling 712100, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027783870","display_name":"Pan Fan","orcid":"https://orcid.org/0000-0002-9104-0598"},"institutions":[{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pan Fan","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","Shannxi Key Laboratory of Apple, Yangling 712100, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","institution_ids":["https://openalex.org/I89652312"]},{"raw_affiliation_string":"Shannxi Key Laboratory of Apple, Yangling 712100, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040071447","display_name":"Xiaoyan Lei","orcid":"https://orcid.org/0000-0002-7601-9053"},"institutions":[{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyan Lei","raw_affiliation_strings":["College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","Shannxi Key Laboratory of Apple, Yangling 712100, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","institution_ids":["https://openalex.org/I89652312"]},{"raw_affiliation_string":"Shannxi Key Laboratory of Apple, Yangling 712100, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063368737","display_name":"Zhijie Liu","orcid":"https://orcid.org/0000-0003-1699-3468"},"institutions":[{"id":"https://openalex.org/I4210151987","display_name":"Ministry of Agriculture and Rural Affairs","ror":"https://ror.org/05ckt8b96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127390","https://openalex.org/I4210151987"]},{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie Liu","raw_affiliation_strings":["Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China","College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China"],"affiliations":[{"raw_affiliation_string":"Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China","institution_ids":["https://openalex.org/I4210151987"]},{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","institution_ids":["https://openalex.org/I89652312"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050623393","display_name":"Fuzeng Yang","orcid":"https://orcid.org/0000-0002-0194-0032"},"institutions":[{"id":"https://openalex.org/I4210103541","display_name":"Institute of Soil and Water Conservation","ror":"https://ror.org/013wv8d67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210103541","https://openalex.org/I4210155611"]},{"id":"https://openalex.org/I4210151987","display_name":"Ministry of Agriculture and Rural Affairs","ror":"https://ror.org/05ckt8b96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127390","https://openalex.org/I4210151987"]},{"id":"https://openalex.org/I4391768204","display_name":"State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau","ror":"https://ror.org/045h6pd58","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210103541","https://openalex.org/I4210155611","https://openalex.org/I4391768204"]},{"id":"https://openalex.org/I89652312","display_name":"Northwest A&F University","ror":"https://ror.org/0051rme32","country_code":"CN","type":"education","lineage":["https://openalex.org/I89652312"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fuzeng Yang","raw_affiliation_strings":["Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China","College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","State Key Laboratory of Soil Erosion and Dryland Farming on Loess Plateau, Yangling 712100, China"],"affiliations":[{"raw_affiliation_string":"Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China","institution_ids":["https://openalex.org/I4210151987"]},{"raw_affiliation_string":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling 712100, China","institution_ids":["https://openalex.org/I89652312"]},{"raw_affiliation_string":"State Key Laboratory of Soil Erosion and Dryland Farming on Loess Plateau, Yangling 712100, China","institution_ids":["https://openalex.org/I4210103541","https://openalex.org/I4391768204"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050623393"],"corresponding_institution_ids":["https://openalex.org/I4210103541","https://openalex.org/I4210151987","https://openalex.org/I4391768204","https://openalex.org/I89652312"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":100.8321,"has_fulltext":true,"cited_by_count":557,"citation_normalized_percentile":{"value":0.99990064,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"13","issue":"9","first_page":"1619","last_page":"1619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9959999918937683,"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":0.9959999918937683,"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":0.9781000018119812,"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":0.9538999795913696,"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":0.7165809273719788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7127561569213867},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5966486930847168},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.563046932220459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5553991794586182},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.525084376335144},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4601389467716217},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19612938165664673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7165809273719788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7127561569213867},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5966486930847168},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.563046932220459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5553991794586182},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.525084376335144},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4601389467716217},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19612938165664673},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs13091619","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13091619","pdf_url":"https://www.mdpi.com/2072-4292/13/9/1619/pdf","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1376dbb452ed4353a9a8f664bfcaba2b","is_oa":true,"landing_page_url":"https://doaj.org/article/1376dbb452ed4353a9a8f664bfcaba2b","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 13, Iss 9, p 1619 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/13/9/1619/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs13091619","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 13; Issue 9; Pages: 1619","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs13091619","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13091619","pdf_url":"https://www.mdpi.com/2072-4292/13/9/1619/pdf","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3158114921.pdf","grobid_xml":"https://content.openalex.org/works/W3158114921.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W2896107488","https://openalex.org/W2916936958","https://openalex.org/W2943955917","https://openalex.org/W2945051190","https://openalex.org/W2945925278","https://openalex.org/W2946589087","https://openalex.org/W2963420686","https://openalex.org/W2981708487","https://openalex.org/W2988389512","https://openalex.org/W2989928569","https://openalex.org/W2998587218","https://openalex.org/W3008389987","https://openalex.org/W3011638763","https://openalex.org/W3016611160","https://openalex.org/W3027542479","https://openalex.org/W3032587223","https://openalex.org/W3040933791","https://openalex.org/W3042421576","https://openalex.org/W3044607523","https://openalex.org/W3046743061","https://openalex.org/W3048025158","https://openalex.org/W3081084433","https://openalex.org/W3081638962","https://openalex.org/W3091271518","https://openalex.org/W3099781968","https://openalex.org/W3107505554","https://openalex.org/W3113522598","https://openalex.org/W3115519526","https://openalex.org/W3122351145","https://openalex.org/W3124045049","https://openalex.org/W3126271061","https://openalex.org/W3139284042","https://openalex.org/W6789549451"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3147584709","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2977677679","https://openalex.org/W2170721890"],"abstract_inverted_index":{"The":[0,40,182,242,289,315],"apple":[1,13,21,84,89,333],"target":[2,157],"recognition":[3,229,244,291],"algorithm":[4,59],"is":[5,60],"one":[6],"of":[7,11,18,48,121,149,160,176,262,278,295,307,327],"the":[8,12,19,27,49,58,64,77,115,131,139,145,156,164,171,177,187,200,219,228,260,263,276,279,296,323,332],"core":[9],"technologies":[10],"picking":[14,46,65,96,334],"robot.":[15,66,335],"However,":[16],"most":[17],"existing":[20],"detection":[22,91,158,326],"algorithms":[23],"cannot":[24],"distinguish":[25],"between":[26],"apples":[28,81],"that":[29,186],"are":[30,51],"occluded":[31,36,195,205,210],"by":[32,37,196,206,211,269,282],"tree":[33,85,197,207],"branches":[34,208],"and":[35,44,79,199,233,239,257,273,286,304,310,312],"other":[38,212],"apples.":[39],"apples,":[41,189,202],"grasping":[42],"end-effector":[43],"mechanical":[45],"arm":[47],"robot":[50,97],"very":[52],"likely":[53],"to":[54,63,74,107,113,130,138,155],"be":[55,215],"damaged":[56],"if":[57],"directly":[61],"applied":[62],"Based":[67],"on":[68],"this":[69,225],"practical":[70],"problem,":[71],"in":[72,82,118,163,224],"order":[73],"automatically":[75],"recognize":[76],"graspable":[78,188],"ungraspable":[80,201],"an":[83],"image,":[86],"a":[87],"light-weight":[88],"targets":[90,330],"method":[92,317],"was":[93,104,111,136,180,246],"proposed":[94,140,220,264,297,316],"for":[95,322,331],"using":[98,218],"improved":[99,105,141,221,265,298],"YOLOv5s.":[100],"Firstly,":[101],"BottleneckCSP":[102,116],"module":[103,109,117],"designed":[106],"BottleneckCSP-2":[108],"which":[110,128,152,190,203],"used":[112],"replace":[114],"backbone":[119,142],"architecture":[120],"original":[122,165,178,253],"YOLOv5s":[123,166,266,299],"network.":[124,143],"Secondly,":[125],"SE":[126],"module,":[127],"belonged":[129],"visual":[132],"attention":[133],"mechanism":[134],"network,":[135,167],"inserted":[137],"Thirdly,":[144],"bonding":[146],"fusion":[147],"mode":[148],"feature":[150],"maps,":[151],"were":[153,168,191,204,235,301],"inputs":[154],"layer":[159],"medium":[161],"size":[162,175,277],"improved.":[169,181],"Finally,":[170],"initial":[172],"anchor":[173],"box":[174],"network":[179,222],"experimental":[183],"results":[184],"indicated":[185],"unoccluded":[192],"or":[193,209],"only":[194],"leaves,":[198],"fruits,":[213],"could":[214],"identified":[216],"effectively":[217],"model":[223,267,280,300],"study.":[226],"Specifically,":[227],"recall,":[230],"precision,":[231],"mAP":[232,261],"F1":[234],"91.48%,":[236],"83.83%,":[237],"86.75%":[238],"87.49%,":[240],"respectively.":[241,288,314],"average":[243,290],"time":[245],"0.015":[247],"s":[248],"per":[249,293],"image.":[250],"Contrasted":[251],"with":[252],"YOLOv5s,":[254],"YOLOv3,":[255],"YOLOv4":[256,309],"EfficientDet-D0":[258],"model,":[259,313],"increased":[268],"5.05%,":[270],"14.95%,":[271],"4.74%":[272],"6.75%":[274],"respectively,":[275],"compressed":[281],"9.29%,":[283],"94.6%,":[284],"94.8%":[285],"15.3%":[287],"speeds":[292],"image":[294],"2.53,":[302],"1.13":[303],"3.53":[305],"times":[306],"EfficientDet-D0,":[308],"YOLOv3":[311],"can":[318],"provide":[319],"technical":[320],"support":[321],"real-time":[324],"accurate":[325],"multiple":[328],"fruit":[329]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":90},{"year":2024,"cited_by_count":128},{"year":2023,"cited_by_count":172},{"year":2022,"cited_by_count":134},{"year":2021,"cited_by_count":21}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2021-05-10T00:00:00"}
