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Deep learning has demonstrated significant capabilities for learning image features and presents many opportunities for agricultural automation. Deep neural networks typically require large and diverse training datasets to learn generalizable models. However, this requirement is challenging for applications in agricultural automation systems, since collecting and annotating large amount of training samples from filed crops and greenhouses is an expensive and complicated process due to the large diversity of crops, growth seasons and climate changes. This research proposed a new method for augmenting training dataset using synthesized images that preserves the background context and texture of the data object. A synthetic dataset of 1800 images was generated using a reference dataset and applying image processing techniques. As reference dataset 100 and for evaluating detection performance 230 real images of strawberry flowers were collected in greenhouses. Experimental results demonstrated that the suggested method provides improved performance when applied to the state-of-the-arts convolutional object detectors including Faster RCNN, SSD, YOLOv3 and CenterNet for the task of strawberry flower detection in non-structured environment. The YOLOv3 w/darknet53 model achieved 46.84% boost in performance with average precision (AP) improved from 39.20% to 86.04% when applied augmentation using synthetic dataset. The AP of Faster R-CNN w/resnet50, SSD w/resnet50 and FPN and CenterNet w/hourglass52 models improved by 15.71, 18.42 and 22.24%, respectively. The Faster R-CNN w/resnet50 model provided most significant strawberry flower detection performance with AP 90.84%, which is higher than SSD w/resnet50 and FPN, YOLOv3 w/darknet53 and CenterNet w/hourglass52 models (88.56%, 86.04 % and 83.82%, respectively).

Data augmentation method for strawberry flower detection in non-structured environment using convolutional object detection networks