On line detection of defective apples using computer vision system combined with deep learning methods

A deep-learning architecture based on Convolutional Neural Networks (CNN) and a cost-effective computer vision module were used to detect defective apples on a four-line fruit sorting machine at a speed of 5 fruits/s. A CNN based classification architecture was trained and tested, with the accuracy, recall, and specificity of 96.5%, 100.0%, and 92.9%, respectively, for the testing set. An inferior performance was obtained by a traditional image processing method based on candidate defective regions counting and a support vector machine (SVM) classifier, with the accuracy, recall, and specificity of 87.1%, 90.9%, and 83.3%, respectively. The CNN-based model was loaded into the custom software to validate its performance using independent 200 apples, obtaining an accuracy of 92% with a processing time below 72 ms for six images of an apple fruit. The overall results indicated that the proposed CNN-based classification model had great potential to be implemented in commercial packing line. •A CNN model was proposed for inspection of defective apples.•The CNN model was more promising than traditional SVM classification method.•Effective on-line sorting of apples by applying the CNN model.