Search Results (503)

The field inspection and ripeness detection of tomatoes in China remain heavily dependent on manual labor, while existing robotic solutions often exhibit limited functionality, poor environmental adaptability, prohibitive hardware costs, and unstable positioning accuracy. To address these limitations, this study proposes an intelligent tomato inspection robot that seamlessly integrates real-time ripeness recognition with precise spatial localization. Built upon a Raspberry Pi 5 core controller, the robot employs a lightweight, layered modular architecture designed to flexibly navigate complex agricultural environments. A comprehensive, multi-dimensional image dataset of tomato ripeness was constructed to train a three-category detection model based on the YOLOv8n architecture. Following 413 training epochs, the model demonstrated exceptional performance, achieving an overall mAP@0.5 of 87.8% and an mAP@0.5:0.95 of 72.7% on the held-out test dataset. In field inspections, the system achieved detection precisions of 82.22% for immature tomatoes, 92.66% for half-ripened tomatoes, and 100% for fully ripe tomatoes, successfully identifying all ripe tomatoes and satisfying the practical demands of field inspection. Furthermore, the integration of an Ultra-Wideband positioning system yielded an overall Root Mean Square Error of 0.231 m, successfully confining positioning errors to within 0.24 m to fully satisfy the stringent localization demands of crop-level inspection. Field evaluations confirmed that under optimal configurations, the robot can efficiently inspect a 50-m planting row in 10 min (±1 min) and maintains a continuous operational battery life of 2 h (±10 min). The core contribution of this work is the system-level integration and optimization of technologies for greenhouse agriculture. This integrated design achieves low hardware cost and high deployment flexibility, addressing longstanding challenges of labor-intensive inspection and delayed harvesting, and delivering a practical solution for intelligent tomato plantation management. Full article

Accurate crop row detection is identified as a critical prerequisite for autonomous agricultural navigation, yet it remains challenging in complex field environments. To achieve a balance between segmentation accuracy, robustness, and real-time performance, an improved crop row segmentation and navigation method based on the DeepLabV3+ framework was developed. MobileNetV2 was adopted as the backbone to minimize computational costs, while feature representation was enhanced through integrated attention mechanisms and multi-scale fusion. Specifically, split-attention convolution was integrated into the backbone, a DenseASPP + SP module was employed for multi-scale contextual capture, and a Convolutional Block Attention Module (CBAM) was added to refine feature responses. Experimental results demonstrated that the proposed method outperformed mainstream models, achieving a mean Intersection over Union (mIoU) of 93.42% and an f1-score of 96.8%. The model maintained a lightweight architecture with 8.35 M parameters and a real-time speed of 32 FPS. Furthermore, crop row anchor points were extracted and processed via DBSCAN clustering and RANSAC fitting to generate high-precision navigation lines. Validation showed that the middle crop row yielded the highest fitting accuracy with minimal angular and lateral errors. This study provides an efficient visual perception solution for intelligent field operations. Full article

Recent advances in satellite missions, particularly the Landsat, Sentinel, and Gaofen series, have led to the rapid accumulation of high-quality remote sensing data with frequent revisits. As these data have become more widely available, Satellite Image Time Series (SITS) have become an important tool for monitoring Earth surface dynamics. SITS now supports a wide range of applications, including precision agriculture, Land Use/Cover Change (LULCC) monitoring, environmental management, and disaster response. This growth has also promoted the development of advanced SITS classification datasets. However, existing reviews have mainly focused on SITS classification algorithms or specific applications, while systematic comparisons of public SITS benchmark datasets remain limited. This lack of synthesis makes it difficult for researchers to navigate fragmented resources and select datasets that match specific scientific or operational tasks. To address this gap, this paper provides a comprehensive review and analysis of 29 publicly available medium-to-high-resolution SITS classification benchmark datasets released between 2017 and 2025. These datasets are intended for training, testing, and validating land-cover classification algorithms, rather than for direct use as operational map products. We conduct a detailed statistical and comparative analysis of these datasets, focusing on their key characteristics across spectral, temporal, and spatial dimensions, as well as their labeling systems. In addition, this review summarizes the SITS classification algorithms that have been developed and benchmarked using these datasets. Finally, we identify the main challenges in constructing and applying SITS classification datasets and discuss future research directions, particularly in data reconstruction, multimodal fusion, change analysis, and advanced model architectures. This survey provides the research community with a systematic overview of SITS classification benchmark datasets and aims to support continued progress in this rapidly developing field. Full article

Reliable monocular depth estimation (MDE) is essential for agricultural robots and unmanned platforms, where low-cost visual perception is required for safe navigation and scene understanding in complex field environments. However, general-purpose depth foundation models remain limited by substantial domain gaps in agriculture, while full fine-tuning of large backbones is computationally expensive and less suitable for deployment on resource-constrained platforms. In this paper, an efficient agricultural MDE framework, termed AgriLoRA-DA, is proposed based on Depth-Anything-V2. Specifically, the pretrained DINOv2 encoder is kept frozen and adapted using LoRA in selected attention projections, while the original Dense Prediction Transformer (DPT) decoder is replaced with a lightweight Lite-FPNHead to reduce decoding overhead and improve deployment efficiency. Experiments conducted on the WE3DS dataset indicate that, although Depth-Anything-V3 provides the strongest zero-shot generalization among the evaluated baselines, target-domain adaptation is still necessary for WE3DS agricultural scenes. After adaptation, AgriLoRA-DA achieves the best overall performance with AbsRel = 0.0133, SqRel = 3.518, RMSE = 132.264, log10 = 0.0057, and delta1 = 0.9990, while requiring only 0.19 M (0.87%) trainable parameters. These results suggest that parameter-efficient adaptation and lightweight decoding provide a practical direction for deployable depth estimation in crop-row scenes similar to WE3DS, while broader cross-dataset validation remains an important direction for future work. Full article

Accurate navigation line recognition in mature soybean fields presents significant challenges due to complex backgrounds. To address this issue, we developed an enhanced YOLOv10n-based model for robust visual navigation, and the assessment was conducted in the experimental fields of the laboratory. The dataset comprised 1363 original images collected at this site and was expanded to 5452 images through data augmentation. The study utilized an innovative data annotation approach focusing on inter-ridge navigation areas to minimize background noise from mature soybean rows. The model was optimized by integrating the CSP Multi-Scale Edge Information Enhancement (CSP-MEIE) module and a lightweight detection head. This architecture significantly improves efficiency, achieving a model size of just 4.5 MB and a parameter count of 2.137 M, while delivering a rapid detection speed of 204.1 FPS. Crucially, the model expands the effective receptive field to 96.6% (t = 99%), far exceeding the 73.0% of the baseline YOLOv10n, ensuring robust feature capture without compromising accuracy (92.6% mAP50-95). For path planning, path points were extracted and predicted using a combination of Kalman filtering and adaptive segmentation. Field experiments demonstrated the system’s effectiveness, achieving an average distance error of 4.53 pixels and an average angle error of 3.57°, a processing speed of 28.17 ms per frame, and a navigation line recognition accuracy of 98.05%. These findings highlight the method’s capability to meet real-time agricultural requirements, offering a reliable visual perception and decision-making basis for autonomous navigation in complex field environments. Full article

Real-time and accurate crop row extraction is a fundamental requirement for vision-based perception in autonomous agricultural machinery. In maize fields, however, row detection is easily affected by variable illumination, leaf occlusion, weed interference, and uneven soil backgrounds, which can reduce the reliability of both GNSS- and image-based navigation methods. To address these challenges, this study proposes a plant-oriented crop row perception framework that reconstructs row structures from individual maize plant detections. A lightweight detection model, named Maize–YOLO, was developed based on YOLOv11n for maize seedling detection. Three key improvements were introduced to enhance the balance between accuracy and efficiency. First, the C3k2_Faster_CGLU module replaces the original C3k2 block to reduce redundant convolutional computation while improving selective feature representation through convolutional gated linear units, thereby enhancing robustness under complex field backgrounds. Second, a lightweight shared detection head, Detect_LSH, was designed to share convolutional parameters across multi-scale feature maps and adaptively adjust feature amplitudes, reducing detection-head redundancy while maintaining multi-scale prediction capability. Third, a Layer-Adaptive Magnitude-Based Pruning strategy was applied to remove low-contribution channels and further improve computational efficiency for CPU-based deployment. Experimental results on field-collected maize seedling images showed that Maize–YOLO achieved an mAP@0.5 of 97.6%, reduced GFLOPs by 61.9%, and maintained a CPU inference speed of 84.4 FPS. After plant detection, row centerlines were estimated using an IPM–DBSCAN–LSM pipeline, which transformed detected plant centers into a quasi-top-view space, clustered them into crop rows, and fitted continuous centerlines. The extracted crop rows reached a positional accuracy of 98.6%, with a mean angular deviation of 0.44°. These results demonstrate that the proposed method can provide accurate, lightweight, and real-time crop row perception for autonomous agricultural navigation and precision field operations. Full article

This study aims to evaluate the potential of Global Navigation Satellite System Interferometric Reflectometry (GNSS-IR) based on signal-to-noise ratio (SNR) analysis for monitoring crop structure and moisture. Data were collected using a GNSS antenna placed within an experimental meadow located in NW Italy. GNSS-IR exploits the interference between direct and ground-reflected signals to derive physical parameters such as the vegetation phase center height and soil moisture. In this work, by analyzing and modeling the oscillations in SNR time series, the sensitivity to crop growth dynamics was assessed. Vegetation height and dielectric parameters were compared against corresponding ground-surveyed values collected using a ruler and buried soil moisture sensors. Results suggest that GNSS-IR can detect canopy height with a high degree of consistency (Pearson’s r = 0.89, MAPE = 18%). Results also show that changes in the amplitude and phase of the interference pattern are sensitive to biomass density and dielectric properties of the reflecting surface (r = −0.81 and r = 0.86 respectively). GNSS-IR observables were analyzed across four representative measurement campaigns capturing distinct seasonal stages of meadow development. Despite the limited temporal sampling (n = 4), the selected observations correspond to contrasting vegetation and soil moisture conditions, allowing the identification of systematic variations in crop biophysical properties. These findings open promising perspectives for the development of innovative monitoring strategies in precision agriculture, leveraging existing GNSS infrastructure to obtain key biophysical parameters with minimal additional equipment and operational complexity. Full article

This paper presents the application of a micro unmanned aerial vehicle (UAV) that acts as a pollination agent in a controlled environment simulating greenhouse conditions. The micro-UAV system was integrated with a convolutional neural network (CNN) for autonomous flower detection and navigation. The custom Sequential CNN architecture was used on board to perform real-time binary classification, accurately distinguishing flowers from non-flower objects. The fusion of this deep learning-based detection with precise micro-UAV navigation enables efficient identification and approaches to target flowers within optimal operational distances. Experimental evaluations revealed that the micro-UAV’s onboard camera, combined with CNN processing, outperformed standard webcams in terms of detection speed and accuracy, demonstrating the benefits of specialized hardware. Within the experiment, the micro-UAV was pre-programmed to follow a ‘cross’-shaped flight pattern. Experimental results show that the proposed system successfully detects multiple flowers autonomously between distances of 30.5 cm and 91.5 cm within 149.1 s. Overall, this study validated the integration of neural network capabilities with micro-UAV navigation. These findings are crucial for highlighting the potential of neural network-enabled micro-UAVs as effective pollinators in enclosed agricultural environments and for addressing the challenges faced by natural pollinators in greenhouses. Full article

The unchecked expansion of tea plantations onto steep, forest-adjacent slopes in subtropical mountains engenders a conflict between agricultural productivity and ecosystem integrity, particularly by exacerbating habitat fragmentation and soil erosion. While precise monitoring is essential to navigate this trade-off for sustainable management, accurate inventorying remains a challenge due to the plantations’ strong phenological variability, heterogeneous canopy structures, and high spectral confusion with surrounding vegetation. This study proposes a feature-optimized deep learning framework for mapping and characterizing tea plantations in complex landscapes, using Xinyang City, China, as a study area. The framework integrates multi-temporal Sentinel-1/2 observations with a sequential Jeffries-Matusita (JM)-Pearson feature filtering strategy. This approach effectively condenses a 132-variable high-dimensional pool (including optical spectra, vegetation indices, textures, and SAR polarimetry) into a compact 28-feature subset (a 78.8% reduction), preserving critical phenological and structural cues while minimizing redundancy. These optimized predictors drive a hybrid VGG16–UNet++ segmentation network, which couples transfer-learning-based semantic encoding with detail-preserving dense skip fusion. Extensive experiments across 18 model–feature configurations demonstrate that the optimal setting achieves an Overall Accuracy of 97.82%, an F1-score of 0.9093, and a mean IoU of 0.7968. Notably, the method significantly reduces misclassification in rugged, cloud-prone terrain, yielding a User’s Accuracy of 91.14% for tea. Based on the generated wall-to-wall map, we derived two decision-support indicators: multi-threshold steep-slope exposure and a normalized tea–forest interface density. This framework provides actionable, high-precision spatial products to support slope-based zoning, ecological restoration, and sustainable management in fragile mountain agroforestry systems. Full article

Unmanned aerial vehicles (UAVs) are becoming an important platform for precision agriculture, supporting both high-throughput sensing and active field operations such as spraying, monitoring, and phenotyping. However, unlike general UAV applications, agricultural environments impose distinctive challenges due to heterogeneous field structures, canopy occlusion, terrain variation, dynamic disturbances, and strong coupling between navigation performance and task quality. To address this gap, this review presents a systematic analysis of UAV navigation in agricultural environments from a system-level perspective. The review first summarizes the core technical components of agricultural UAV navigation, including sensing, localization, mapping, planning, and control. It then discusses how navigation requirements vary across representative scenarios such as open fields, orchards, and terraced farmland, and examines their roles in key applications including aerial mapping, field monitoring, precision spraying, and close-range orchard operations. In addition, datasets, simulation platforms, and evaluation protocols relevant to agricultural UAV navigation are reviewed. Finally, major challenges are identified, including scene heterogeneity, perception degradation, insufficient task-semantic integration, limited control robustness, and the lack of standardized benchmarks. Future research should move toward robust, task-aware, and modular navigation architectures that support reliable and scalable agricultural UAV deployment. Full article

Aiming at the problem of the insufficient passability and stability of the tracked chassis of silage harvesters caused by complex hilly and mountainous areas and a severe working environment, the crawler chassis of self-propelled silage harvesters was taken as the research object, the straight-line driving, longitudinal climbing, and lateral climbing processes of the chassis were theoretically analyzed, and the critical parameters that affect the normal climbing of the chassis were calculated. Meanwhile, the multi-body dynamics model of the tracked chassis was established by using the software SolidWorks 2020 and RecurDyn 2023, and its climbing and obstacle crossing performance were analyzed. The relevant motion parameters of the tracked chassis suitable for longitudinal and transverse slopes in hilly and mountainous areas were obtained, and field tests were conducted on the tracked chassis to verify the reliability of the simulation model. According to the simulation results, the tracked chassis achieves ultimate slope angles of 28° longitudinally and 23° laterally. It demonstrates the capability to navigate 140 mm high ridges and 250 mm wide trenches smoothly, while its straight-line driving offset rate conforms to prevailing agricultural machinery industry standards. Field test results indicated that the tracked chassis achieved a maximum longitudinal climbing angle of 26°. The relative error of less than 8% between the experimental and simulated data confirms a strong correlation. The maximum offset rate for straight-line travel is 1.95%, meeting the requirements of the agricultural machinery industry standards. The test verified the feasibility of the dynamic model of the crawler chassis of the silage harvester, providing a theoretical basis and technical support for the optimal design of the crawler chassis of the self-propelled silage harvester in hilly and mountainous areas. Full article

High-throughput plant phenotyping (HTPP) is increasingly limited by the mismatch between the need for field-relevant, fine-grained phenotypic information and the restricted capability of conventional observation platforms under complex agricultural conditions. Ground mobile robots are emerging as the key carrier for resolving this gap because they combine close-range sensing, autonomous mobility, and physical interaction within real field environments. In this paper, a structured scoping review is presented using a closed-loop perception–decision–action pipeline as the organizing principle. Within this framework, recent advances are synthesized from the perspectives of multimodal fusion, localization-aware sensing, motion planning, deep-learning-based phenotypic analysis, active observation, robotic intervention, and edge deployment. The review further clarifies the complementary roles of Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), and air–ground collaboration in multiscale phenotyping workflows. Beyond summarizing technologies, the article provides three concrete deliverables: a structured taxonomy of mobile phenotyping systems; comparative tables covering sensing modalities, localization/navigation methods, and AI models; and a research agenda linking technical progress to field deployability. The synthesis highlights four persistent bottlenecks, namely environmental generalization, annotation scarcity, limited standardization and reproducibility, and the gap between advanced models and agricultural edge hardware. Overall, ground robots are identified not merely as sensing platforms, but as the central system architecture for advancing mobile phenotyping toward autonomous, fine-grained, and field-deployable operation. Full article

To address the issues of corn harvester field operations relying on driver visual guidance for row alignment, high labor intensity, and unstable operation accuracy, this study innovatively proposes a “vision-dominant, gateway-enhanced” dual-mode collaborative row-alignment assistance architecture, and independently develops the R²DC-Mask R-CNN instance segmentation network and MCC-KF robust filtering algorithm to form a deeply coupled hardware–software-assisted driving system. The R²DC-Mask R-CNN network is autonomously designed for corn row-detection scenarios, achieving accurate perception in complex field environments; the MCC-KF algorithm innovatively solves the state estimation divergence problem during transient vision failures through a multi-criteria constraint mechanism, ensuring continuous navigation capability; the intelligent gateway and vision system form a confidence-driven master–slave switching mechanism that adaptively enhances system robustness when vision is restricted. Field experiments demonstrate that within the speed range of 0.5–5.0 km/h, the average lateral deviation in the row alignment assisted by the system is 3.82–5.30 cm, the proportion of deviations less than 10 cm exceeds 96%, and all sample deviations remain within 20 cm; at a speed of 3.5 km/h, the system reduces the average grain loss rate from 3.76% under manual operation to 2.65%, a decrease of 29.5%. This system effectively improves row alignment accuracy and harvest quality, providing a practical human–machine collaborative solution for intelligent harvester operations. Full article

The integration of emerging technologies such as robotics and artificial intelligence (AI) has the potential to transform agricultural harvesting by improving efficiency, reducing waste, lowering labor dependency, and enhancing produce quality. This paper presents the development of an intelligent robotic berry harvesting system that combines deep learning–based perception with autonomous robotic manipulation for real-time strawberry harvesting. A computer vision pipeline based on the YOLOv11 segmentation model was developed and integrated into a Smart Mobile Manipulator (SMM) equipped with autonomous navigation, a 6-degree-of-freedom (6-DoF) xArm 6 robotic arm, and ROS middleware to enable real-time operation. Using a publicly available strawberry dataset comprising 2,800 images collected under ridge-planted cultivation conditions, the proposed YOLOv11-small segmentation model achieved 84.41% mAP@0.5, outperforming YOLOv11 object detection, Faster R-CNN, and RT-DETR in segmentation quality while maintaining real-time performance at 10 FPS on an NVIDIA Jetson Orin Nano edge GPU. A PCA-based fruit orientation and geometric analysis method achieved 86.5% localization accuracy on 200 test images. Controlled indoor harvesting experiments using synthetic strawberries demonstrated an overall harvesting success rate of 72% across 50 trials. The proposed system provides a general-purpose platform for berry harvesting in controlled environments, offering a scalable and efficient solution for autonomous harvesting. Full article

Rural road perception for agricultural machinery automation faces challenges including complex backgrounds, drastic lighting and weather variations, frequent occlusions, and high densities of small objects with significant scale variations. These factors make conventional detectors prone to missed detections and misclassifications. To address these issues, a 4K rural road dataset with 4771 images is constructed. The dataset covers 13 object categories and includes diverse day/night conditions and multiple weather scenarios on both structured and unstructured roads. EMAF-Net, a lightweight single-stage detector based on YOLOv4-P6, is proposed. The backbone integrates an EMHA module combining EfficientNet-B1 with multi-head self-attention (MHSA) for enhanced global context modeling while preserving efficient local feature extraction. The neck adopts an Improved ASPP and a bidirectional FPN to achieve robust multi-scale feature fusion and expanded receptive fields. Meanwhile, CIoU loss is used to optimize bounding box regression accuracy. The experimental results demonstrate that EMAF-Net achieves an mAP@0.5 of 64.05% and an mAP@0.5:0.95 of 48.95% on a rural road dataset. At the same time, it maintains a lightweight design with 18.3 M parameters and a computational complexity of 38.5 GFLOPs. Ablation studies confirm the EMHA module contributes a 6.22% mAP@0.5 improvement, validating EMAF-Net’s effectiveness for real-time rural road perception in autonomous agricultural systems. Full article