# Waypoint Generation in Row-based Crops with Deep Learning and Contrastive Clustering

arXiv: https://arxiv.org/abs/2206.11623 · HTML: https://mlsanity.com/paper/2206.11623/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 39 references that are in the map.
- First posted on arXiv 23 Jun 2022.

## Builds on (most cited first, 14 of 14)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Using Deep Learning for Image-Based Plant Disease Detection](https://mlsanity.com/paper/1604.03169/) (2016)
- [Deep learning in agriculture: A survey](https://mlsanity.com/paper/1807.11809/) (2018)
- [Recent Advances in Autoencoder-Based Representation Learning](https://mlsanity.com/paper/1812.05069/) (2018)
- [Domain-Adversarial Training of Self-Attention Based Networks for Land Cover Classification using Multi-temporal Sentinel-2 Satellite Imagery](https://mlsanity.com/paper/2104.00564/) (2021)
- [Real-Time Apple Detection System Using Embedded Systems With Hardware Accelerators: An Edge AI Application](https://mlsanity.com/paper/2004.13410/) (2020)
- [Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy](https://mlsanity.com/paper/2005.12815/) (2020)
- [UAV and Machine Learning Based Refinement of a Satellite-Driven Vegetation Index for Precision Agriculture](https://mlsanity.com/paper/2004.14421/) (2020)

## Built on by (most cited first, 4 of 4)

- [Domain Generalization for Crop Segmentation with Standardized Ensemble Knowledge Distillation](https://mlsanity.com/paper/2304.01029/) (2023)
- [Deep Instance Segmentation and Visual Servoing to Play Jenga with a Cost-Effective Robotic System](https://mlsanity.com/paper/2211.07977/) (2022)
- [Advanced techniques and applications of LiDAR Place Recognition in Agricultural Environments: A Comprehensive Survey](https://mlsanity.com/paper/2601.22198/) (2026)
- [Enhancing Navigation Benchmarking and Perception Data Generation for Row-based Crops in Simulation](https://mlsanity.com/paper/2306.15517/) (2023)

## Abstract (arXiv)

The development of precision agriculture has gradually introduced automation in the agricultural process to support and rationalize all the activities related to field management. In particular, service robotics plays a predominant role in this evolution by deploying autonomous agents able to navigate in fields while executing different tasks without the need for human intervention, such as monitoring, spraying and harvesting. In this context, global path planning is the first necessary step for every robotic mission and ensures that the navigation is performed efficiently and with complete field coverage. In this paper, we propose a learning-based approach to tackle waypoint generation for planning a navigation path for row-based crops, starting from a top-view map of the region-of-interest. We present a novel methodology for waypoint clustering based on a contrastive loss, able to project the points to a separable latent space. The proposed deep neural network can simultaneously predict the waypoint position and cluster assignment with two specialized heads in a single forward pass. The extensive experimentation on simulated and real-world images demonstrates that the proposed approach effectively solves the waypoint generation problem for both straight and curved row-based crops, overcoming the limitations of previous state-of-the-art methodologies.