Knowledge Distillation with Geometry-Consistent Feature Alignment for Robust Low-Light Apple Detection

Abstract

'Wei Li' 'Jiangtao Qi' 'Gang Wang'] Apple-detection performance in orchards degrades markedly under low-light conditions, where intensified noise and non-uniform exposure blur edge cues critical for precise localisation. We propose Knowledge Distillation with Geometry-Consistent Feature Alignment (KDFA), a compact end-to-end framework that couples image enhancement and detection through the following two complementary components: (i) Cross-Domain Mutual-Information-Bound Knowledge Distillation, which maximises an InfoNCE lower bound between daylight-teacher and low-light-student region embeddings; (ii) Geometry-Consistent Feature Alignment, which imposes Laplacian smoothness and bipartite graph correspondences across multiscale feature lattices. Trained on 1200 pixel-aligned bright/low-light image pairs, KDFA achieves 51.3% mean Average Precision (mAPQ [0.50:0.95]) on a challenging low-light apple-detection benchmark, setting a new state of the art by simultaneously bridging the illumination-domain gap and preserving geometric consistency.