Optimizing YOLO27, YOLO26, YOLO11, and YOLOv8 for Fine-Grained Small-Object Detection and Segmentation in Complex Orchard Environments

arXiv:2608.23636v2 Announce Type: replace Abstract: This study presents an architectural and experimental cross-generation analysis of Ultralytics YOLO27 (YOLOv27), YOLO26 (YOLOv26), YOLO11 (YOLOv11), and YOLOv8 for fine-grained robotic perception in complex orchard environments. Fine-grained detection and instance segmentation of early-stage fruit anatomy remain challenging in complex orchard environments because of limited pixel footprints, green-on-green similarity, occlusion, and substantial scale variation. Because YOLO27 has been announced but its public implementation and trainable segmentation models are not yet available, the present study provides an architectural analysis of YOLO27, while controlled experiments benchmark YOLOv8, YOLO11, and YOLO26; YOLO27 experiments will be incorporated following public model availability. Five model scales-nano (n), small (s), medium (m), large (l), and extra-large (x)-were evaluated for fruitlet, calyx, and peduncle detection and segmentation using conventional 640 x 640 and small-object-focused 960 x 960 configurations, yielding 30 experiments. YOLO11s-960 achieved the highest observed mask mAP@50:95(0.402) and box mAP@50:95(0.426), whereas YOLO26s-960 achieved comparable values of 0.397 and 0.425 with only 10.37~M parameters and 34.1~GFLOPs. Peduncle remained the most challenging class, and increasing model capacity did not consistently improve accuracy. Overall, compact-to-moderate YOLO models combined with small-object-focused training provided favorable accuracy-efficiency trade-offs, establishing a reproducible benchmark for fine-grained agricultural robotic perception. Code, trained models, and experimental configurations are publicly available, and will be updated through our Github Link: https://github.com/rnjnspkt/Optimizing-and-Comparing-Ultralytics-YOLOv26-YOLOv11-and-YOLOv8-for-Small-Object-Detection-and-Seg