# A Vision-Based Navigation System for Arable Fields

arXiv: https://arxiv.org/abs/2309.11989 · HTML: https://mlsanity.com/paper/2309.11989/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 3 of its 36 references that are in the map.
- First posted on arXiv 21 Sep 2023.

## Builds on (most cited first, 3 of 3)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Visual Servoing-based Navigation for Monitoring Row-Crop Fields](https://mlsanity.com/paper/1909.12754/) (2019)
- [Vision-based Vineyard Navigation Solution with Automatic Annotation](https://mlsanity.com/paper/2303.14347/) (2023)

## Built on by (most cited first, 1 of 1)

- [Enabling 24-hour Agricultural Robotics: Unsupervised Day-to-Night Cross-Modal Image Translation for Nighttime Visual Navigation](https://mlsanity.com/paper/2607.12065/) (2026)

## Abstract (arXiv)

Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth stages and crop row irregularities. Current solutions are often crop-specific and aimed to address limited individual conditions such as illumination or weed density. Moreover, the scarcity of comprehensive datasets hinders the development of generalised machine learning systems for navigating these fields. This paper proposes a suite of deep learning-based perception algorithms using affordable vision sensors for vision-based navigation in arable fields. Initially, a comprehensive dataset that captures the intricacies of multiple crop seasons, various crop types, and a range of field variations was compiled. Next, this study delves into the creation of robust infield perception algorithms capable of accurately detecting crop rows under diverse conditions such as different growth stages, weed density, and varying illumination. Further, it investigates the integration of crop row following with vision-based crop row switching for efficient field-scale navigation. The proposed infield navigation system was tested in commercial arable fields traversing a total distance of 4.5 km with average heading and cross-track errors of 1.24deg and 3.32 cm respectively.