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Because of the complexity of the early images of tomato diseases and pests in the natural environment, the traditional methods can not achieve real-time and accurate detection.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Aiming at the complex background of early period of tomato diseases and pests image objects in the natural environment, an improved object detection algorithm based on YOLOv3 for early real-time detection of tomato diseases and pests was proposed. Firstly, aiming at the complex background of tomato diseases and pests images under natural conditions, dilated convolution layer is used to replace convolution layer in backbone network to maintain high resolution and receptive field and improve the ability of small object detection. Secondly, in the detection network, according to the size of candidate box intersection ratio (IOU) and linear attenuation confidence score predicted by multiple grids, the obscured objects of tomato diseases and pests are retained, and the detection problem of mutual obscure objects of tomato diseases and pests is solved. Thirdly, to reduce the model volume and reduce the model parameters, the network is lightweight by using the idea of convolution factorization. Finally, by introducing a balance factor, the small object weight in the loss function is optimized. The test results of nine common tomato diseases and pests under six different background conditions are statistically analyzed. The proposed method has a F1 value of 94.77%, an AP value of 91.81%, a false detection rate of only 2.1%, and a detection time of only 55 Ms. The test results show that the method is suitable for early detection of tomato diseases and pests using large-scale video images collected by the agricultural Internet of Things.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>At present, most of the object detection of diseases and pests based on computer vision needs to be carried out in a specific environment (such as picking the leaves of diseases and pests and placing them in the environment with light supplement equipment, so as to achieve the best environment). For the images taken by the Internet of things monitoring camera in the field, due to various factors such as light intensity, weather change, etc., the images are very different, the existing methods cannot work reliably. The proposed method has been applied to the actual tomato production scenarios, showing good detection performance. The experimental results show that the method in this study improves the detection effect of small objects and leaves occlusion, and the recognition effect under different background conditions is better than the existing object detection algorithms. The results show that the method is feasible to detect tomato diseases and pests in the natural environment.<\/jats:p><\/jats:sec>","DOI":"10.1186\/s13007-021-00745-2","type":"journal-article","created":{"date-parts":[[2021,4,23]],"date-time":"2021-04-23T12:07:25Z","timestamp":1619179645000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":103,"title":["Early real-time detection algorithm of tomato diseases and pests in the natural environment"],"prefix":"10.1186","volume":"17","author":[{"given":"Xuewei","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8769-5981","authenticated-orcid":false,"given":"Jun","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoning","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,4,23]]},"reference":[{"key":"745_CR1","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1016\/j.agwat.2017.12.019","volume":"201","author":"D Masseroni","year":"2018","unstructured":"Masseroni D, Moller P, Tyrell R, Romani M, Lasagna A, Sali G, et al. 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