Towards Intelligent Pruning of Vineyards by Direct Detection of Cutting Areas

摘要

The development of robots for automatic pruning of vineyards using deep learning techniques seems feasible in the medium term. In this context, it is essential to propose and study solutions that can be deployed on portable hardware, with artificial intelligence capabilities but reduced computing power. In this paper, we propose a novel approach to vineyard pruning by direct detection of cutting areas in real time by comparing Mask R-CNN and YOLOv8 performances. The studied object segmentation architectures are able to segment the image by locating the trunk, and pruned and not pruned vine shoots. Our study analyzes the performance of both frameworks in terms of segmentation efficiency and inference times on a Jetson AGX Orin GPU. To compare segmentation efficiency, we used the mAP50 and AP50 per category metrics. Our results show that YOLOv8 is superior both in segmentation efficiency and inference time. Specifically, YOLOv8-S exhibits the best tradeoff between efficiency and inference time, showing an mAP50 of 0.883 and an AP50 of 0.748 for the shoot class, with an inference time of around 55 ms on a Jetson AGX Orin.