Abstract
An accurate vision system to classify and analyze fruits in real time is critical for harvesting robots to be cost-effective and efficient. However, practical success in this area is still limited, and to the best of our knowledge, there is no research in the area of machine vision for date fruits in an orchard environment. In this work, we propose an efficient machine vision framework for date fruit harvesting robots. The framework consists of three classification models used to classify date fruit images in real time according to their type, maturity, and harvesting decision. In the classification models, deep convolutional neural networks are utilized with transfer learning and fine-tuning on pre-trained models. To build a robust vision system, we create a rich image dataset of date fruit bunches in an orchard that consists of more than 8000 images of five date types in different pre-maturity and maturity stages. The dataset has a large degree of variations that reflects the challenges in the date orchard environment including variations in angles, scales, illumination conditions, and date bunches covered by bags. The proposed date fruit classification models achieve accuracies of 99.01%, 97.25%, and 98.59% with classification times of 20.6, 20.7, and 35.9 msec for the type, maturity, and harvesting decision classification tasks, respectively.