Xinyu Cao

Reducing damage and missed harvest rates is essential for improving efficiency in unmanned cabbage harvesting. Accurate real-time segmentation of cabbage heads can significantly alleviate these issues and enhance overall harvesting performance. However, the complexity of the growing environment and the morphological variability of field-grown cabbage present major challenges to achieving precise segmentation. This study proposes an improved YOLOv8n-seg network to address these challenges effectively. Key improvements include modifying the baseline model’s final C2f module and integrating deformable attention with dynamic sampling points to enhance segmentation performance. Additionally, an ADown module minimizes detail loss from excessive downsampling by using depthwise separable convolutions to reduce parameter count and computational load. To improve the detection of small cabbage heads, a Small Object Enhance Pyramid based on the PAFPN architecture is introduced, significantly boosting performance for small targets. The experimental results show that the proposed model achieves a Mask Precision of 92.2%, Mask Recall of 87.2%, and Mask mAP50 of 95.1%, while maintaining a compact model size of only 6.46 MB. These metrics indicate superior accuracy and efficiency over mainstream instance segmentation models, facilitating real-time, precise cabbage harvesting in complex environments.

Semantic segmentation of rural roads presents unique challenges due to the unstructured nature of these environments, including irregular road boundaries, mixed surfaces, and diverse obstacles. In this study, we propose an enhanced PP-LiteSeg model specifically designed for rural road segmentation, incorporating a novel Strip Pooling Simple Pyramid Module (SP-SPPM) and a Bottleneck Unified Attention Fusion Module (B-UAFM). These modules improve the model’s ability to capture both global and local features, addressing the complexity of rural roads. To validate the effectiveness of our model, we constructed the Rural Roads Dataset (RRD), which includes a diverse set of rural scenes from different regions and environmental conditions. Experimental results demonstrate that our model significantly outperforms baseline models such as UNet, BiSeNetv1, and BiSeNetv2, achieving higher accuracy in terms of mean intersection over union (MIoU), Kappa coefficient, and Dice coefficient. Our approach enhances segmentation performance in complex rural road environments, providing practical applications for autonomous navigation, infrastructure maintenance, and smart agriculture.