# FruitProM-V2: Robust Probabilistic Maturity Estimation and Detection of Fruits and Vegetables

arXiv: https://arxiv.org/abs/2604.26084 · HTML: https://mlsanity.com/paper/2604.26084/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 45 references that are in the map.
- First posted on arXiv 28 Apr 2026.

## Builds on (most cited first, 16 of 16)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [Evidential Deep Learning to Quantify Classification Uncertainty](https://mlsanity.com/paper/1806.01768/) (2018)
- [Confident Learning: Estimating Uncertainty in Dataset Labels](https://mlsanity.com/paper/1911.00068/) (2019)
- [Deep Evidential Regression](https://mlsanity.com/paper/1910.02600/) (2019)
- [Deep learning in agriculture: A survey](https://mlsanity.com/paper/1807.11809/) (2018)
- [Label Distribution Learning](https://mlsanity.com/paper/1408.6027/) (2014)
- [RT-DETRv2: Improved Baseline with Bag-of-Freebies for Real-Time Detection Transformer](https://mlsanity.com/paper/2407.17140/) (2024)
- [YOLO26: Key Architectural Enhancements and Performance Benchmarking for Real-Time Object Detection](https://mlsanity.com/paper/2509.25164/) (2025)
- [RF-DETR Object Detection vs YOLOv12 : A Study of Transformer-based and CNN-based Architectures for Single-Class and Multi-Class Greenfruit Detection in Complex Orchard Environments Under Label Ambiguity](https://mlsanity.com/paper/2504.13099/) (2025)
- [FruitProm: Probabilistic Maturity Estimation and Detection of Fruits and Vegetables](https://mlsanity.com/paper/2510.24885/) (2025)

## Abstract (arXiv)

Accurate fruit maturity identification is essential for determining harvest timing, as incorrect assessment directly affects yield and post-harvest quality. Although ripening is a continuous biological process, vision-based maturity estimation is typically formulated as a multi-class classification task, which imposes sharp boundaries between visually similar stages. To examine this limitation, we perform an annotation reliability study with two independent annotators on a held-out tomato dataset and observe disagreement concentrated near adjacent maturity stages. Motivated by this observation, we model maturity as a latent continuous variable and predict it probabilistically using a distributional detection head, converting the distribution into class probabilities through the cumulative distribution function (CDF). The proposed formulation maintains comparable performance to a standard detector under clean labels while better representing uncertainty. Furthermore, when controlled label noise is introduced during training, the probabilistic model demonstrates improved robustness relative to the baseline, indicating that explicitly modeling maturity uncertainty leads to more reliable visual maturity estimation.