mlsanityData to 7 Oct 2026

Real-time Semantic Segmentation of Crop and Weed for Precision Agriculture Robots Leveraging Background Knowledge in CNNs

arXiv 1709.06764 ↗First posted 20 Sep 2017cs.CV cs.ROcited by 55

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Abstract (arXiv)

Precision farming robots, which target to reduce the amount of herbicides that need to be brought out in the fields, must have the ability to identify crops and weeds in real time to trigger weeding actions. In this paper, we address the problem of CNN-based semantic segmentation of crop fields separating sugar beet plants, weeds, and background solely based on RGB data. We propose a CNN that exploits existing vegetation indexes and provides a classification in real time. Furthermore, it can be effectively re-trained to so far unseen fields with a comparably small amount of training data. We implemented and thoroughly evaluated our system on a real agricultural robot operating in different fields in Germany and Switzerland. The results show that our system generalizes well, can operate at around 20Hz, and is suitable for online operation in the fields.

Key facts. Cited by 55 papers in the map (data through 7 Oct 2026). First posted on arXiv 20 Sep 2017.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 11; 2022: 9; 2023: 11; 2024: 8; 2025: 8; 2026: 8.

55 papers.

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  1. 2021Semi-supervised Domain Adaptation based on Dual-level Domain Mixing for Semantic Segmentationcited by 33
  2. 2023PhenoBench -- A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domaincited by 31
  3. 2023Semantic Ray: Learning a Generalizable Semantic Field with Cross-Reprojection Attentioncited by 29
  4. 2024Open-World Semantic Segmentation Including Class Similaritycited by 22
  5. 2022Hyperbolic Uncertainty Aware Semantic Segmentationcited by 17
  6. 2022Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domaincited by 17
  7. 2022GrowliFlower: An image time series dataset for GROWth analysis of cauLIFLOWERcited by 15
  8. 2023WeatherProof: A Paired-Dataset Approach to Semantic Segmentation in Adverse Weathercited by 9
  9. 2022Augmentation Invariance and Adaptive Sampling in Semantic Segmentation of Agricultural Aerial Imagescited by 8
  10. 2023Semi-Supervised Semantic Segmentation via Marginal Contextual Informationcited by 8
  11. 2021Potato Crop Stress Identification in Aerial Images using Deep Learning-based Object Detectioncited by 7
  12. 2021Semantic Scene Segmentation for Robotics Applicationscited by 7
38 more
  1. 2022On Efficient Real-Time Semantic Segmentation: A Surveycited by 7
  2. 2022Standardizing and Centralizing Datasets to Enable Efficient Training of Agricultural Deep Learning Modelscited by 7
  3. 2021Semi-supervised dry herbage mass estimation using automatic data and synthetic imagescited by 5
  4. 2022Surrogate-assisted Multi-objective Neural Architecture Search for Real-time Semantic Segmentationcited by 5
  5. 2023BonnBeetClouds3D: A Dataset Towards Point Cloud-based Organ-level Phenotyping of Sugar Beet Plants under Field Conditionscited by 5
  6. 2025A survey of datasets for computer vision in agriculturecited by 5
  7. 2021Lightweight Distributed Gaussian Process Regression for Online Machine Learningcited by 4
  8. 2025WeedsGalore: A Multispectral and Multitemporal UAV-based Dataset for Crop and Weed Segmentation in Agricultural Maize Fieldscited by 4
  9. 2021Towards practical object detection for weed spraying in precision agriculturecited by 3
  10. 2022Uncertainty in Real-Time Semantic Segmentation on Embedded Systemscited by 3
  11. 2025iNatAg: Multi-Class Classification Models Enabled by a Large-Scale Benchmark Dataset with 4.7M Images of 2,959 Crop and Weed Speciescited by 3
  12. 2021Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentationcited by 2
  13. 2022Labeling Where Adapting Fails: Cross-Domain Semantic Segmentation with Point Supervision via Active Selectioncited by 2
  14. 2024Relative Difficulty Distillation for Semantic Segmentationcited by 2
  15. 2024Open-World Panoptic Segmentationcited by 2
  16. 2025Vision Foundation Models in Agriculture: Toward Domain-Specific Adaptation for Weed Herbicide Trials Assessmentcited by 2
  17. 2021Using depth information and colour space variations for improving outdoor robustness for instance segmentation of cabbagecited by 1
  18. 2021Deep-CNN based Robotic Multi-Class Under-Canopy Weed Control in Precision Farmingcited by 1
  19. 2023On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Roboticscited by 1
  20. 2023Semantic Segmentation by Semantic Proportionscited by 1
  21. 2024WeatherProof: Leveraging Language Guidance for Semantic Segmentation in Adverse Weathercited by 1
  22. 2024Shape and Style GAN-based Multispectral Data Augmentation for Crop/Weed Segmentation in Precision Farmingcited by 1
  23. 2024A feature refinement module for light-weight semantic segmentation networkcited by 1
  24. 2025Improving Lightweight Weed Detection via Knowledge Distillationcited by 1
  25. 2026Advanced techniques and applications of LiDAR Place Recognition in Agricultural Environments: A Comprehensive Surveycited by 1
  26. 2021Unsupervised Adaptive Semantic Segmentation with Local Lipschitz Constraintcited by 0
  27. 2021Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automationcited by 0
  28. 2023SILOP: An Automated Framework for Semantic Segmentation Using Image Labels Based on Object Perimeterscited by 0
  29. 2023ISLE: A Framework for Image Level Semantic Segmentation Ensemblecited by 0
  30. 2023Segmentation and Tracking of Vegetable Plants by Exploiting Vegetable Shape Feature for Precision Spray of Agricultural Robotscited by 0
  31. 2023Multispectral Image Segmentation in Agriculture: A Comprehensive Study on Fusion Approachescited by 0
  32. 2024An Organic Weed Control Prototype using Directed Energy and Deep Learningcited by 0
  33. 2024Solution for CVPR 2024 UG2+ Challenge Track on All Weather Semantic Segmentationcited by 0
  34. 20253D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensorscited by 0
  35. 2025Lightweight Multispectral Crop-Weed Segmentation for Precision Agriculturecited by 0
  36. 2025Landcover classification and change detection using remote sensing and machine learning: a case study of Western Fijicited by 0
  37. 2026WeedRepFormer: Reparameterizable Vision Transformers for Real-Time Waterhemp Segmentation and Gender Classificationcited by 0
  38. 2026Evaluation of Convolutional and Transformer-Based Detectors for Weed Detection in Tomato Plantationscited by 0

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