Improving Walnut Images Segmentation Using Modified UNet3+ Algorithm

When aiming at the problems such as missed detection or misdetection of recognizing green walnuts in the natural environment directly by using target detection algorithms, a method is proposed based on improved UNet3+ for green walnut image segmentation, which incorporates the channel and spatial attention mechanism CBAM (convolutional block attention module) and cross-entropy loss function (cross-entropy loss) into the UNet3+ network structure, and introduces the five-layer CBAM in the encoder module to construct the improved UNet3+ network model. The model consists of an encoder module (down-sampling), a decoder module (up-sampling) and a full-scale skip connection module, a full-scale feature supervision module, and a classification guidance module. After utilizing data-enhanced approaches to expand the green walnut dataset, the improved UNet3+ model was trained. The experimental findings demonstrate that the improved UNet3+ network model achieves 91.82% average precision, 96.00% recall rate, and 93.70% F1 score in the green walnut segmentation task; the addition of five-layer CBAM boosts the model segmentation precision rate by 3.11 percentage points. The method can precisely and successfully segment green walnuts, which can serve as a guide and research foundation for precisely identifying and localizing green walnuts and finishing the autonomous sorting for intelligent robots.