Fig. 1. Green apple images in orchard environment

Fig. 2. Examples of different types of image enhancement

Fig. 3. FCOS network structure diagram

Fig. 4. (a) Top-down pathway; (b) bottom-up pathway

Fig. 5. Optimized FCOS nerwork

Fig. 6. Coordinate mapping

Fig. 7. Centerness* value change

Fig. 8. Loss value curve (a) and AP value curve (b)

Fig. 9. Detection effect of the model in different interference scenes

Fig. 10. Detection effect images of 5 detectors in different complex scenes