Abstract
To tackle wildfires and improve forest biomass management, cost effective and reliable mowing and pruning robots are required. However, the development of visual perception systems for forestry robotics needs to be researched and explored to achieve safe solutions. This paper presents two main contributions: an annotated dataset and a benchmark between edge-computing hardware and deep learning models. The dataset is composed by nearly 5,400 annotated images. This dataset enabled to train nine object detectors: four SSD MobileNets, one EfficientDet, three YOLO-based detectors and YOLOR. These detectors were deployed and tested on three edge-computing hardware (TPU, CPU and GPU), and evaluated in terms of detection precision and inference time. The results showed that YOLOR was the best trunk detector achieving nearly 90% F1 score and an inference average time of 13.7 ms on GPU. This work will favour the development of advanced vision perception systems for robotics in forestry operations.
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Acknowledgement
This work is financed by the ERDF - European Regional Development Fund, through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme under the Portugal 2020 Partnership Agreement, within project SMARTCUT, with reference POCI-01-0247-FEDER-048183. Daniel Queirós da Silva thanks the FCT-Foundation for Science and Technology, Portugal for the Ph.D. Grant UI/BD/152564/2022.
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da Silva, D.Q., dos Santos, F.N., Filipe, V., Sousa, A.J. (2023). Tree Trunks Cross-Platform Detection Using Deep Learning Strategies for Forestry Operations. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_4
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