SN-CNN: A Lightweight and Accurate Line Extraction Algorithm for Seedling Navigation in Ridge-Planted Vegetables

Abstract

In precision agriculture, after vegetable transplanters plant the seedlings, field management during the seedling stage is necessary to optimize the vegetable yield. Accurately identifying and extracting the centerlines of crop rows during the seedling stage is crucial for achieving the autonomous navigation of robots. However, the transplanted ridges often experience missing seedling rows. Additionally, due to the limited computational resources of field agricultural robots, a more lightweight navigation line fitting algorithm is required. To address these issues, this study focuses on mid-to-high ridges planted with double-row vegetables and develops a seedling band-based navigation line extraction model, a Seedling Navigation Convolutional Neural Network (SN-CNN). Firstly, we proposed the C2f_UIB module, which effectively reduces redundant computations by integrating Network Architecture Search (NAS) technologies, thus improving the model’s efficiency. Additionally, the model incorporates the Simplified Attention Mechanism (SimAM) in the neck section, enhancing the focus on hard-to-recognize samples. The experimental results demonstrate that the proposed SN-CNN model outperforms YOLOv5s, YOLOv7-tiny, YOLOv8n, and YOLOv8s in terms of the model parameters and accuracy. The SN-CNN model has a parameter count of only 2.37 M and achieves an mAP@0.5 of 94.6%. Compared to the baseline model, the parameter count is reduced by 28.4%, and the accuracy is improved by 2%. Finally, for practical deployment, the SN-CNN algorithm was implemented on the NVIDIA Jetson AGX Xavier, an embedded computing platform, to evaluate its real-time performance in navigation line fitting. We compared two fitting methods: Random Sample Consensus (RANSAC) and least squares (LS), using 100 images (50 test images and 50 field-collected images) to assess the accuracy and processing speed. The RANSAC method achieved a root mean square error (RMSE) of 5.7 pixels and a processing time of 25 milliseconds per image, demonstrating a superior fitting accuracy, while meeting the real-time requirements for navigation line detection. This performance highlights the potential of the SN-CNN model as an effective solution for autonomous navigation in field cross-ridge walking robots.