The Study of UAV-Based Tea Shoots Detection with TSDet-UAV Method

The picking of tea leaves in tea gardens requires multiple batches in the short and valuable tea harvest period. To realize timely and efficient tea plucking, it is feasible to use unmanned aerial vehicles (UAV) for tea shoot detection in large tea gardens. For the typical small targets of tea buds in unmanned aerial vehicle (UAV) aerial images, it is necessary to design an efficient tea buds detection model. In order to improve the accuracy and the speed of the tea buds detection in the UAV images, we designed the SH-CoordMapping hash space mapping algorithm to accelerate the remerging of the detection results into the original image. The C2PSA-BI module and the CARAFE upsampling module are applied to improve detail preservation during feature fusion. A lightweight detection head is further used to reduce redundant computation in the detection stage. By comparing with the traditional detection methods, it can be proved that the SWO sections are necessary for UAV-scale tea shoots detection. Based on the accuracy and the number of model parameters, the YOLO11n model with slice size as 640 and overlap rate as 0.1 performs the best. The TSDet-UAV was deployed on the NVIDIA Jetson Orin NX chip to construct an inspection system capable of real-time acquisition and detection. The experimental results demonstrate that the proposed TSDet-UAV achieves excellent performance, recording an mAP₅₀ of 52.9% on the constructed UAV-TS dataset while maintaining high efficiency. With a parameter size of 2.4 M and a total processing time of 1.32 s per high-resolution image under TensorRT FP16, the processing speed is highly suitable for real-time edge deployment on agricultural UAV platforms. The UAV image-based tea garden shoot inspection platform proposed in this paper can effectively confirm the growth status of tea shoots, assisting farm management in formulating precise picking plans.