Identification and Picking Point Positioning of Tender Tea Shoots Based on MR3P-TS Model

Tea is one of the most common beverages in the world. In order to reduce the cost of artificial tea picking and improve the competitiveness of tea production, this paper proposes a new model, termed the Mask R-CNN Positioning of Picking Point for Tea Shoots (MR3P-TS) model, for the identification of the contour of each tea shoot and the location of picking points. In this study, a dataset of tender tea shoot images taken in a real, complex scene was constructed. Subsequently, an improved Mask R-CNN model (the MR3P-TS model) was built that extended the mask branch in the network design. By calculating the area of multiple connected domains of the mask, the main part of the shoot was identified. Then, the minimum circumscribed rectangle of the main part is calculated to determine the tea shoot axis, and to finally obtain the position coordinates of the picking point. The MR3P-TS model proposed in this paper achieved an mAP of 0.449 and an F2 value of 0.313 in shoot identification, and achieved a precision of 0.949 and a recall of 0.910 in the localization of the picking points. Compared with the mainstream object detection algorithms YOLOv3 and Faster R-CNN, the MR3P-TS algorithm had a good recognition effect on the overlapping shoots in an unstructured environment, which was stronger in both versatility and robustness. The proposed method can accurately detect and segment tea bud regions in real complex scenes at the pixel level, and provide precise location coordinates of suggested picking points, which should support the further development of automated tea picking machines.