Fruit maturity and location identification of beef tomato using R-CNN and binocular imaging technology

The objective of this study was to identify the maturity and position of tomatoes in greenhouse. Three parts have been included in this study: building the model of image capturing and object detection, position identification of mature fruits and prediction of the size of the mature fruits. For the first part, image capturing in different time and object detection will be conducted in the greenhouse for identification of mature fruits. For the second part, the relative 3D position of the mature fruits calculated by the binocular vision was compared with the actual measured position. For the third part, the size of the bounding box from the object detection was compared with the actual size of the mature fruit, and the correlation was calculated in order to pre-adjust the width of the gripper for plucking operation in the future. The precision and the recall of the mature fruits of this study are over 95%. The average error of the 3D position is 0.5 cm. The actual size of the fruits and the R-squared of the size of the bounding box are over 0.9.