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Spatial Pyramid Pooling (SPP) module is used to increase the receptive field to enhance the semantics of the output network. Compared with Resnet101, the parameter quantity of the model is reduced by 90.90%, the detection speed is increased from 5 frames\/s to 10 frames\/s, and the detection speed is increased by 100%. The detection result is that the accuracy rate is 91.67%, the recall rate is 97.82%, and the mAP value is 91.68%. To solve the repeated detection of fruits due to the movement of the camera, the Deepsort algorithms was used to solve the multi-tracking problems. Experiments show that the algorithm can effectively detect the edge position information and categories of apples in different scenes. It can be an automated apple-picking robot. The vision system provides strong technical support.<\/jats:p>","DOI":"10.3233\/jifs-213072","type":"journal-article","created":{"date-parts":[[2022,6,7]],"date-time":"2022-06-07T12:36:06Z","timestamp":1654605366000},"page":"2019-2029","source":"Crossref","is-referenced-by-count":3,"title":["Detection and counting of overlapped apples based on convolutional neural networks"],"prefix":"10.1177","volume":"44","author":[{"given":"Mengyuan","family":"Gao","sequence":"first","affiliation":[{"name":"Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China"},{"name":"School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shunagbao","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yapeng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Digital Textile Equipment, Wuhan Textile University, Wuhan, China"},{"name":"School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Xue","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","reference":[{"key":"10.3233\/JIFS-213072_ref1","doi-asserted-by":"crossref","first-page":"138041","DOI":"10.1016\/j.scitotenv.2020.138041","article-title":"Soil properties of apple orchards on China\u2019s Loess Plateau[J]","volume":"723","author":"Yang","year":"2020","journal-title":"Science of the Total Environment"},{"issue":"3","key":"10.3233\/JIFS-213072_ref2","doi-asserted-by":"crossref","DOI":"10.1177\/1729881420925310","article-title":"Apple harvesting robot under information technology: A review[J]","volume":"17","author":"Jia","year":"2020","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"10.3233\/JIFS-213072_ref3","doi-asserted-by":"crossref","first-page":"9102","DOI":"10.1109\/ACCESS.2020.2964608","article-title":"Real-time apple detection system using embedded systems with hardware accelerators: An edge AI application[J]","volume":"8","author":"Mazzia","year":"2020","journal-title":"IEEE Access"},{"issue":"6","key":"10.3233\/JIFS-213072_ref4","doi-asserted-by":"crossref","first-page":"1957","DOI":"10.13031\/trans14144.","article-title":"A Time and Motion Study for Evaluation of Apple Harvest Processes with Different Harvest Methods[J]","volume":"63","author":"Zhang","year":"2020","journal-title":"Transactions of the ASABE"},{"issue":"2","key":"10.3233\/JIFS-213072_ref5","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1016\/j.biosystemseng.2011.07.005","article-title":"Design and control of an apple harvesting robot[J]","volume":"110","author":"De-An","year":"2011","journal-title":"Biosystems Engineering"},{"key":"10.3233\/JIFS-213072_ref6","doi-asserted-by":"crossref","unstructured":"Karpyshev P. , Ilin V. , Kalinov I. , et al., Autonomous Mobile Robot for Apple Plant Disease Detection based on CNN and Multi-Spectral Vision System[C]\/\/ 2021 IEEE\/SICE International Symposium on System Integration (SII). 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