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aster-RCNN and SSD models. Experimental results show that the recognition effect of the proposed model is significantly improved. In the test dataset of images captured under the background of sufficient light without leaf shelter, the F1 score and AP value are 94.13% and 92.53%, and the average IOU value is 89.92%. In all the test sets, the F1 score and AP value are 93.24% and 91.32%, and the average IOU value is 86.98%. The object detection speed can reach 246 frames/s on GPU, the extrapolation speed for a single 416 × 416 picture is 16.
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