Detecting Citrus in Orchard Environment by Using Improved YOLOv4

Table 2

Comparison of the K-Means and Canopy + K-means++ under different numbers of prior frames.

Number of prior frames	K-means (%)	Canopy + K-means++
6	65.54	86.14%
9	69.91	88.76%
12	71.21	90.67%