An Apple Detection Method Based on Des-YOLO v4 Algorithm for Harvesting Robots in Complex Environment

Table 1

Performance comparison of different algorithms.

Algorithm	Backbone network	mAP (%)	Detection speed (f·s^−1)
Faster R-CNN	ResNet50	88.1	9
YOLO v4	CSPDarknet53	87.9	53
Des-YOLO v4	Des-Darknet	93.1	51