Deployment of CES-YOLO: An Optimized YOLO-Based Model for Blueberry Ripeness Detection on Edge Devices

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Abstract
To achieve efficient and accurate detection of blueberry fruit ripeness, this study proposes a lightweight yet high-performance object detection model—CES-YOLO. Designed for real-world blueberry harvesting scenarios, the model addresses key challenges such as significant visual differences across ripeness stages, complex occlusions, and small object sizes. CES-YOLO introduces three core components: the C3K2-Ghost module for efficient feature extraction and model compression, the SEAM attention mechanism to enhance the focus on critical fruit regions, and the EMA Head for improved detection of small and densely packed targets. Experiments on a blueberry ripeness dataset demonstrated that CES-YOLO achieved 91.22% mAP50, 69.18% mAP95, 89.21% precision, and 85.23% recall, while maintaining a lightweight structure with only 2.1 M parameters and 5.0 GFLOPs, significantly outperforming mainstream lightweight detection models. Extensive ablation and comparative studies confirmed the effectiveness of each component in improving detection accuracy and reducing false positives and missed detections. This research offers an efficient and practical solution for automated recognition of fruit and vegetable maturity, supporting broader applications in smart agriculture, and provides theoretical and engineering insights for the future design of agricultural vision models. To further demonstrate its practical deployment capability, CES-YOLO was successfully deployed on the NVIDIA Jetson Orin Nano platform, where it maintained real-time detection performance, with low power consumption and high inference efficiency, validating its suitability for embedded edge computing scenarios in intelligent agriculture.
Funding Information
  • National Key Research and Development Program of China (2023YFD1500404, 20230101219JC)
  • Natural Science Foundation of Jilin Province (2023YFD1500404, 20230101219JC)

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