Detecting Citrus in Orchard Environment by Using Improved YOLOv4

Table 4

Kumquat training parameters of four methods in different periods.

Model	Growth stage	F1 score (%)	Average time/s	Accuracy (%)
Faster-RCNN	Growing period	86.24	0.32	0.84
YOLOv3	Growing period	83.97	0.21	0.82
YOLOv4	Growing period	87.51	0.12	0.92
Improved YOLOv4	Growing period	91.95	0.10	0.95
Faster-RCNN	Maturity	86.48	0.32	0.86
YOLOv3	Maturity	84.17	0.21	0.82
YOLOv4	Maturity	87.58	0.11	0.92
Improved YOLOv4	Maturity	92.13	0.09	0.96