YOLOv8n-CSE: A Model for Detecting Litchi in Nighttime Environments

Abstract

The accurate detection of litchi fruit cluster is the key technology of litchi picking robot. In the natural environment during the day, due to the unstable light intensity, uncertain light angle, background clutter and other factors, the identification and positioning accuracy of litchi fruit cluster is greatly affected. Therefore, we proposed a method to detect litchi fruit cluster in the night environment. The use of artificial light source and fixed angle can effectively improve the identification and positioning accuracy of litchi fruit cluster. In view of the weak light intensity and reduced image features in the nighttime environment, we proposed the YOLOv8n-CSE model. The model improves the recognition of litchi clusters in night environment. Specifically, we use YOLOv8n as the initial model, and introduce the CPA-Enhancer module with chain thinking prompt mechanism in the neck part of the model, so that the network can alleviate problems such as image feature degradation in the night environment. In addition, the VoVGSCSP design pattern in Slimneck was adopted for the neck part, which made the model more lightweight. The multi-scale linear attention mechanism and the EfficientViT module, which can be deeply divided, further improved the detection accuracy and detection rate of YOLOv8n-CSE. The experimental results show that the proposed YOLOv8n-CSE model can not only recognize litchi clusters in the night scene, but also has a significant improvement over previous models. In mAP@0.5 and F1, YOLOv8n-CSE achieved 98.86% and 95.54% respectively. Compared with the original YOLOv8n, RT-DETR-l and YOLOv10n, mAP@0.5 is increased by 4.03%, 3.46% and 3.96%, respectively. When the number of parameters is only 4.93 m, F1 scores are increased by 5.47%, 2.96% and 6.24%, respectively. YOLOv8n-CSE achieves an inference time of 36.5ms for the desired detection results. To sum up, the model can satisfy the criteria of the litchi cluster detection system for extremely accurate nighttime environment identification.