DCFA-YOLO: A Dual-Channel Cross-Feature-Fusion Attention YOLO Network for Cherry Tomato Bunch Detection

To better utilize multimodal information for agriculture applications, this paper proposes a cherry tomato bunch detection network using dual-channel cross-feature fusion. It aims to improve detection performance by employing the complementary information of color and depth images. Using the existing YOLOv8_n as the baseline framework, it incorporates a dual-channel cross-fusion attention mechanism for multimodal feature extraction and fusion. In the backbone network, a ShuffleNetV2 unit is adopted to optimize the efficiency of initial feature extraction. During the feature fusion stage, two modules are introduced by using re-parameterization, dynamic weighting, and efficient concatenation to strengthen the representation of multimodal information. Meanwhile, the CBAM mechanism is integrated at different feature extraction stages, combined with the improved SPPF_CBAM module, to effectively enhance the focus and representation of critical features. Experimental results using a dataset obtained from a commercial greenhouse demonstrate that DCFA-YOLO excels in cherry tomato bunch detection, achieving an mAP50 of 96.5%, a significant improvement over the baseline model, while drastically reducing computational complexity. Furthermore, comparisons with other state-of-the-art YOLO and other object detection models validate its detection performance. This provides an efficient solution for multimodal fusion for real-time fruit detection in the context of robotic harvesting, running at 52fps on a regular computer.