The current neural networks for tomato leaf disease recognition have problems such as large model parameters, long training time, and low model accuracy. To solve these problems, a lightweight convolutional neural network LBFNet is proposed in this paper.First, a lightweight convolutional neural network LBFNet is established as the base model. Secondly, a three-channel attention mechanism module is introduced to learn the disease features in tomato leaf disease images and reduce the interference of redundant features. Finally, a cascade module is introduced to increase the depth of the model, solve the gradient descent problem, and reduce the loss caused by increasing the depth of the model. The quantized pruning technique is also used to further compress the model parameters and optimize the model performance. The results show that the LBFNet model achieves 99.06% accuracy on the LBFtomato dataset, with a training time of 996s and a single classification accuracy of over 94%. Further training using the saved weight file after quantized pruning makes the model accuracy reach 97.66%. Compared with the base model, the model accuracy was improved by 28%, and the model parameters were reduced by 96.7% compared with the traditional Resnet50. It was found that LBFNet can quickly and accurately identify tomato leaf diseases in complex environments, providing effective assistance to agricultural producers.

In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a binocular vision SLAM/UWB tightly coupled localization method. The core of this algorithm is based on an Extended Kalman Filter (EKF), which utilizes the displacement increment output by binocular vision ORB-SLAM and the positioning coordinates calculated via UWB positioning as measurement information to achieve data fusion. The research utilized the constructed experimental platform to collect images and UWB ranging data in outdoor environments and experimentally validated the combined positioning method. The experimental results show that this algorithm outperforms the use of the individual UWB or visual SLAM localization methods in terms of positioning accuracy. Compared with traditional single positioning algorithms, this algorithm exhibits better practicality and stability, and can effectively suppress the impact of UWB non line of sight errors. The average error under normal line of sight conditions is 0.058 m, the root mean square error (RMSE) is 0.080, and the average error under non-line-of-sight conditions is 0.081 m, with an RMSE of 0.084. There is no significant jump or drift. Through the tightly coupled processing of binocular vision SLAM and UWB positioning, more reliable and accurate mobile robot positioning can be achieved, providing a useful reference for the autonomous navigation of mobile robots in complex environments.