Research on Positioning Technology of Facility Cultivation Grape Based on Transfer Learning of SSD MobileNet

Abstract There is an urgent need of developing grape picking robot with intelligent recognition function due to the decrease workers’ population. Acquiring 3D information coordinate key process constructing equipment. In this paper, based on SSD MobileNet neural network model, transfer learning and central deviation angle method were used realize positioning points facility cultivation by machine vision. After testing 720 fruit labels, 633 stem labels 603 leaf labelled pretreatment, general precision was 79.5%, which close inherent accuracy original model before learning.