Table 5.

Comparison of green citrus detection algorithms.

Detection algorithms	mAP (%)	F1 (%)	Time/s
Deep Bounding Box Regression Forest (He et al., 2020)	87.60	85.38	0.759
VGG16+Faster R-CNN (Xiong et al., 2018)	85.49	85.31	0.400
The proposed method	91.55	88.00	0.057