Abstract

Work in robotic phenotyping requires computer vision methods that estimate the number of fruit or grains in an image. To decide what to use, we compared three methods for counting fruit and grains, each method representative of a class of approaches from the literature. These are two methods based on density estimation and regression (single and multiple column), and one method based on object detection. We found that when the density of objects in an image is low, the approaches are comparable, but as the density increases, counting by regression becomes steadily more accurate than counting by detection. With more than a hundred objects per image, the error in the count predicted by detection-based methods is up to 5 times higher than when using regression-based ones.