HGV-YOLO: A Detection Method for Floating Seedlings and Missed Transplanting Based on the Morphological Characteristics of Rice Seedlings

Transplanting status is a significant indicator for rice cultivation, and is essential for field management, food security and agricultural production. However, traditional characterization cannot detect the transplanting status in a timely and effective manner; manual seedling replanting is labor-intensive, has a high cost and is inefficient. This study proposed a detection method for floating seedlings and missed transplanting. The method employed a self-built improved YOLO, namely HGV-YOLO. We leverage a HorBlock module to achieve the splitting of the morphological features of rice seedlings in different dimensions of the backbone network of YOLOv8n, which enabled the network to further enhance the classification and recognition ability of rice seedlings. Furthermore, Grouped Spatial Convolution (GSConv) replaces convolution, and the VOV-GSCSP replaces the C2f modules, reducing the number of parameters and improving the model’s inference speed. To improve the model’s bounding box precision, the WIoU loss function was also incorporated. Finally, we use the least squares method to predict the center point of the rice seedlings. The experimental results indicate that HGV-YOLO achieves a precision of 93.7%, a recall of 83.1%, and an mAP@0.5 of 91.1%. Compared to YOLOv8n, HGV-YOLO reduces Params by 3.1% and GFLOPs by 1.2%, respectively, while improving mAP@0.5 by 2.3%. Compared to YOLOv3-tinyYOLOv5 and YOLOv6, HGV-YOLO achieves increases in mAP@0.5 of 4.6 %, 3.1%, and 2.8%, respectively. In summary, the HGV-YOLO model exhibits a strong performance and provides valuable insights for advancing the autonomous navigation of rice transplanting robotics.