{"id":"https://openalex.org/W4360862198","doi":"https://doi.org/10.3390/s23073408","title":"Real-Time Recognition and Localization Based on Improved YOLOv5s for Robot\u2019s Picking Clustered Fruits of Chilies","display_name":"Real-Time Recognition and Localization Based on Improved YOLOv5s for Robot\u2019s Picking Clustered Fruits of Chilies","publication_year":2023,"publication_date":"2023-03-24","ids":{"openalex":"https://openalex.org/W4360862198","doi":"https://doi.org/10.3390/s23073408","pmid":"https://pubmed.ncbi.nlm.nih.gov/37050468"},"language":"en","primary_location":{"id":"doi:10.3390/s23073408","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073408","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3408/pdf?version=1679629135","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/7/3408/pdf?version=1679629135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071008544","display_name":"Song Zhang","orcid":"https://orcid.org/0000-0003-0587-0438"},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Zhang","raw_affiliation_strings":["College of Big Data and Information Engineering, Guizhou University, Guiyang 550025, China"],"affiliations":[{"raw_affiliation_string":"College of Big Data and Information Engineering, Guizhou University, Guiyang 550025, China","institution_ids":["https://openalex.org/I178232147"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048130212","display_name":"Mingshan Xie","orcid":"https://orcid.org/0000-0002-6387-785X"},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingshan Xie","raw_affiliation_strings":["College of Big Data and Information Engineering, Guizhou University, Guiyang 550025, China"],"affiliations":[{"raw_affiliation_string":"College of Big Data and Information Engineering, Guizhou University, Guiyang 550025, China","institution_ids":["https://openalex.org/I178232147"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048130212"],"corresponding_institution_ids":["https://openalex.org/I178232147"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.3692,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93329057,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"23","issue":"7","first_page":"3408","last_page":"3408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9993000030517578,"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":0.9993000030517578,"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/T12894","display_name":"Date Palm Research Studies","score":0.9646999835968018,"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/T12486","display_name":"Food Supply Chain Traceability","score":0.9559999704360962,"subfield":{"id":"https://openalex.org/subfields/1106","display_name":"Food 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":0.48335832357406616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44822555780410767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4332081079483032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3227517306804657}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48335832357406616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44822555780410767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4332081079483032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3227517306804657}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005638","descriptor_name":"Fruit","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005638","descriptor_name":"Fruit","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005638","descriptor_name":"Fruit","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s23073408","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073408","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3408/pdf?version=1679629135","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:37050468","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37050468","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10099055","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10099055","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10099055/pdf/sensors-23-03408.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:5abc91fb52c94229be8ce74e210920f4","is_oa":true,"landing_page_url":"https://doaj.org/article/5abc91fb52c94229be8ce74e210920f4","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 7, p 3408 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/7/3408/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23073408","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":"Sensors; Volume 23; Issue 7; Pages: 3408","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23073408","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23073408","pdf_url":"https://www.mdpi.com/1424-8220/23/7/3408/pdf?version=1679629135","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5185213612","display_name":null,"funder_award_id":"[2019]31","funder_id":"https://openalex.org/F4320321927","funder_display_name":"Guizhou University"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6245097213","display_name":null,"funder_award_id":"62266010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7024628391","display_name":null,"funder_award_id":"[2019]","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7608752429","display_name":null,"funder_award_id":"Talent","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G77467533","display_name":null,"funder_award_id":"[2019]57","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7890911824","display_name":null,"funder_award_id":"[2019]31","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"},{"id":"https://openalex.org/F4320321927","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4360862198.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2182749117","https://openalex.org/W2753403518","https://openalex.org/W2794547127","https://openalex.org/W2883780447","https://openalex.org/W2884561390","https://openalex.org/W2900316824","https://openalex.org/W2903703585","https://openalex.org/W2912149700","https://openalex.org/W2912896210","https://openalex.org/W2963125010","https://openalex.org/W2963163009","https://openalex.org/W2963676620","https://openalex.org/W2974020870","https://openalex.org/W2976415635","https://openalex.org/W2991844793","https://openalex.org/W3017390625","https://openalex.org/W3022921472","https://openalex.org/W3034368386","https://openalex.org/W3034971973","https://openalex.org/W3035414587","https://openalex.org/W3035905805","https://openalex.org/W3046910329","https://openalex.org/W3048025158","https://openalex.org/W3120761267","https://openalex.org/W3138154797","https://openalex.org/W3169356276","https://openalex.org/W3209876422","https://openalex.org/W4220954236","https://openalex.org/W6762585180"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Chili":[0],"recognition":[1,57,97,263],"is":[2,32,53,127,178,189,218,225,233,250,282],"one":[3],"of":[4,92,114,146,196,214,289],"the":[5,17,39,56,70,82,93,115,135,166,172,187,194,199,206,209,215,222,230,242,245,265,276,287],"critical":[6],"technologies":[7],"for":[8,121,175,294],"robots":[9,14,137],"to":[10,35,63,130,163,191,238],"pick":[11],"chilies.":[12,50,170],"The":[13],"need":[15],"locate":[16,38,74],"fruit.":[18],"Furthermore,":[19],"chilies":[20,40],"are":[21,28,42,99,104],"always":[22,29],"planted":[23],"intensively":[24],"and":[25,37,46,75,87,102,111,123,141,168,185,229,261],"their":[26],"fruits":[27],"clustered.":[30],"It":[31,126],"a":[33,152,257,269,290],"challenge":[34],"recognize":[36],"that":[41,69,203],"blocked":[43],"by":[44,220,227,252],"branches":[45],"leaves,":[47],"or":[48],"other":[49],"However,":[51],"little":[52],"known":[54],"about":[55],"algorithms":[58,98,133],"considering":[59],"this":[60,65],"situation.":[61],"Failure":[62],"solve":[64],"problem":[66],"will":[67],"mean":[68],"robot":[71,293],"cannot":[72],"accurately":[73],"collect":[76],"chilies,":[77],"which":[78,285],"may":[79],"even":[80],"damage":[81],"picking":[83,136,292],"robot's":[84],"mechanical":[85],"arm":[86],"end":[88],"effector.":[89],"Additionally,":[90],"most":[91],"existing":[94,116],"ground":[95],"target":[96,153,262],"relatively":[100],"complex,":[101],"there":[103],"many":[105],"problems,":[106],"such":[107],"as":[108],"numerous":[109],"parameters":[110],"calculations.":[112],"Many":[113],"models":[117],"have":[118,138],"high":[119],"requirements":[120],"hardware":[122],"poor":[124],"portability.":[125],"very":[128],"difficult":[129],"perform":[131],"these":[132,147],"if":[134],"limited":[139],"computing":[140],"battery":[142],"power.":[143],"In":[144,272],"view":[145],"practical":[148],"issues,":[149],"we":[150],"propose":[151],"recognition-location":[154],"scheme":[155,217],"GNPD-YOLOv5s":[156,216],"based":[157],"on":[158],"improved":[159],"YOLOv5s":[160,207],"in":[161,264],"order":[162],"automatically":[164],"identify":[165],"occluded":[167],"non-occluded":[169],"Firstly,":[171],"lightweight":[173,258],"optimization":[174],"Ghost":[176],"module":[177],"introduced":[179],"into":[180],"our":[181,273],"scheme.":[182],"Secondly,":[183],"pruning":[184],"distilling":[186],"model":[188,223,255,260],"designed":[190],"further":[192],"reduce":[193],"number":[195,213],"parameters.":[197],"Finally,":[198],"experimental":[200],"data":[201],"show":[202],"compared":[204],"with":[205],"model,":[208],"floating":[210],"point":[211],"operation":[212],"reduced":[219,226,251],"40.9%,":[221],"size":[224],"46.6%,":[228],"reasoning":[231],"speed":[232],"accelerated":[234],"from":[235],"29":[236],"ms/frame":[237],"14":[239],"ms/frame.":[240],"At":[241],"same":[243],"time,":[244],"Mean":[246],"Accuracy":[247],"Precision":[248],"(MAP)":[249],"1.3%.":[253],"Our":[254],"implements":[256],"network":[259],"dense":[266],"environment":[267],"at":[268],"small":[270],"cost.":[271],"locating":[274,279],"experiments,":[275],"maximum":[277],"depth":[278],"chili":[280,291,295],"error":[281],"1.84":[283],"mm,":[284],"meets":[286],"needs":[288],"recognition.":[296]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}