01Orchard perception
Detecting, segmenting, tracking, and mapping weeds from a side-view camera in cluttered apple rows.
- YOLOv7-CBAM segmentation
- DeepSORT identity preservation
- Pixel-grid density estimation
- 0.82 MOTA · 88% IDF1
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02Vision-guided spot spraying
Converting weed coordinates into nozzle-zone assignments, servo angles, timing compensation, and sequential spray commands.
- Husky A200 platform
- Three servo-steered nozzles
- Ant-colony assisted scheduling
- Dynamic hit evaluation
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03Weed morphology & dosing
Connecting plant size and growth habit to more appropriate treatment decisions through repeatable multiview imaging.
- Dual-axis greenhouse gantry
- Top and side ZED X Mini views
- Marestail and lambsquarters
- Size-dependent spray delivery
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04Field integration
Bringing perception, navigation, target selection, and precision application together on a Farm-ng Amiga research platform.
- ROS 2 and sensor fusion
- ZED stereo vision and LiDAR
- Orchard navigation
- Orchard field testing
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