TSE-YOLO: A Model for Tomato Ripeness Segmentation

Abstract

Accurate and efficient tomato ripeness estimation is crucial for robotic harvesting and supply chain grading in smart agriculture. However, manual visual inspection is subjective, slow and difficult to scale, while existing vision models often struggle with cluttered field backgrounds, small targets and limited throughput. To overcome these limitations, we introduce TSE-YOLO, an improved real-time detector tailored for tomato ripeness estimation with joint detection and segmentation. In the TSE-YOLO model, three key enhancements are introduced. The C2PSA module is improved with ConvGLU, adapted from TransNeXt, to strengthen feature extraction within tomato regions. A novel segmentation head is designed to accelerate ripeness-aware segmentation and improve recall. Additionally, the C3k2 module is augmented with partial and frequency-dynamic convolutions, enhancing feature representation under complex planting conditions. These components enable precise instance-level localization and pixel-wise segmentation of tomatoes at three ripeness stages: verde, semi-ripe (semi-maduro), and ripe. Experiments on a self-constructed tomato ripeness dataset demonstrate that TSE-YOLO achieves 92.5% mAP@0.5 for detection and 92.2% mAP@0.5 for segmentation with only 9.8 GFLOPs. Deployed on Android via Ncnn Convolutional Neural Network (NCNN), the model runs at 30 fps on Dimensity 9300, offering a practical solution for automated tomato harvesting and grading that accelerates smart agriculture’s industrial adoption.