Lightweight real-time detectors of apple-leaf diseases operating on embedded devices

Agricultural leaf disease detection is crucial for early intervention and yield protection in precision agriculture. Among representative economic crops, such as apples, leaf lesions are typically small and appear in complex backgrounds, making accurate detection performed on resource-constrained embedded devices challenging. To address this, we propose a lightweight small-object detection models, namely the dynamic Differential Compensation Lightweight-YOLO (DCL-YOLO) model and its pruned version (DCL-YOLO-P), based on YOLO11n. A novel Dual-Aspect Feature Complementary Mapping (DAFCM) module type is embedded in their backbone to recover lost semantic and spatial information, while the original YOLO11n’s neck is replaced by an Efficient Enhanced Cross-Scale Feature Fusion (EE-CSFF) module, which incorporates Gated Differential Convolutional Fusion (GDCF) modules to strengthen cross-scale information flow and small-object representation. Experimental results obtained on the ALDSOD dataset show that, compared with the YOLO11n baseline, DCL-YOLO improves recall from 81.9% to 84.6%, mAP50 from 86.8% to 88.4%, and mAP50:95 from 47.0% to 47.8%, while also reducing the parameter count from 2.58 M to 1.91 M and Giga Floating-Point Operations (GFLOPs) from 6.3 to 5.5. After applying Layer-Adaptive Magnitude-based Pruning (LAMP), the parameter count and GFLOPs are further reduced to 0.75 M and 2.7, respectively, with mAP50 and mAP50:95 still exceeding the baseline by 1.2 and 0.5 percentage points, respectively. When deployed on an embedded device, the pruned model achieved 15.2 FPS and 139 msec per image, confirming its applicability in real-time scenarios. Furthermore, cross-domain validation, performed on the Global Wheat Head Detection (GWHD) dataset, indicates the stable generalization capabilities of the proposed models across environmental domain shifts. The DCL-YOLO’s source code is publicly available at: https://github.com/q123-code/dcl-yolo.