How to rewrite the stars: Mapping your orchard over time through constellations of fruits

Following crop growth through the vegetative cycle allows farmers to predict fruit setting and yield in early stages, but it is a laborious and non-scalable task if performed by a human who has to manually measure fruit sizes with a caliper or dendrometers. In recent years, computer vision has been used to automate several tasks in precision agriculture, such as detecting and counting fruits, and estimating their size. However, the fundamental problem of matching the exact same fruits from one video, collected on a given date, to the fruits visible in another video, collected on a later date, which is needed to track fruits' growth through time, remains to be solved. Few attempts were made, but they either assume that the camera always starts from the same known position and that there are sufficiently distinct features to match, or they used other sources of data like GPS. Here we propose a new paradigm to tackle this problem, based on constellations of 3D centroids, and introduce a descriptor for very sparse 3D point clouds that can be used to match fruits across videos. Matching constellations instead of individual fruits is key to deal with non-rigidity, occlusions and challenging imagery with few distinct visual features to track. The results show that the proposed method can be successfully used to match fruits across videos and through time, and also to build an orchard map and later use it to locate the camera pose in 6DoF, thus providing a method for autonomous navigation of robots in the orchard and for selective fruit picking, for example.

Sesame Plant Segmentation Dataset: A YOLO Formatted Annotated Dataset

This paper presents the Sesame Plant Segmentation Dataset, an open source annotated image dataset designed to support the development of artificial intelligence models for agricultural applications, with a specific focus on sesame plants. The dataset comprises 206 training images, 43 validation images, and 43 test images in YOLO compatible segmentation format, capturing sesame plants at early growth stages under varying environmental conditions. Data were collected using a high resolution mobile camera from farms in Jirdede, Daura Local Government Area, Katsina State, Nigeria, and annotated using the Segment Anything Model version 2 with farmer supervision. Unlike conventional bounding box datasets, this dataset employs pixel level segmentation to enable more precise detection and analysis of sesame plants in real world farm settings. Model evaluation using the Ultralytics YOLOv8 framework demonstrated strong performance for both detection and segmentation tasks. For bounding box detection, the model achieved a recall of 79 percent, precision of 79 percent, mean average precision at IoU 0.50 of 84 percent, and mean average precision from 0.50 to 0.95 of 58 percent. For segmentation, it achieved a recall of 82 percent, precision of 77 percent, mean average precision at IoU 0.50 of 84 percent, and mean average precision from 0.50 to 0.95 of 52 percent. The dataset represents a novel contribution to sesame focused agricultural vision datasets in Nigeria and supports applications such as plant monitoring, yield estimation, and agricultural research.

DepthCropSeg++: Scaling a Crop Segmentation Foundation Model With Depth-Labeled Data

DepthCropSeg++: a foundation model for crop segmentation, capable of segmenting different crop species under open in-field environment. Crop segmentation is a fundamental task for modern agriculture, which closely relates to many downstream tasks such as plant phenotyping, density estimation, and weed control. In the era of foundation models, a number of generic large language and vision models have been developed. These models have demonstrated remarkable real world generalization due to significant model capacity and largescale datasets. However, current crop segmentation models mostly learn from limited data due to expensive pixel-level labelling cost, often performing well only under specific crop types or controlled environment. In this work, we follow the vein of our previous work DepthCropSeg, an almost unsupervised approach to crop segmentation, to scale up a cross-species and crossscene crop segmentation dataset, with 28,406 images across 30+ species and 15 environmental conditions. We also build upon a state-of-the-art semantic segmentation architecture ViT-Adapter architecture, enhance it with dynamic upsampling for improved detail awareness, and train the model with a two-stage selftraining pipeline. To systematically validate model performance, we conduct comprehensive experiments to justify the effectiveness and generalization capabilities across multiple crop datasets. Results demonstrate that DepthCropSeg++ achieves 93.11% mIoU on a comprehensive testing set, outperforming both supervised baselines and general-purpose vision foundation models like Segmentation Anything Model (SAM) by significant margins (+0.36% and +48.57% respectively). The model particularly excels in challenging scenarios including night-time environment (86.90% mIoU), high-density canopies (90.09% mIoU), and unseen crop varieties (90.09% mIoU), indicating a new state of the art for crop segmentation.

Agri-R1: Empowering Generalizable Agricultural Reasoning in Vision-Language Models with Reinforcement Learning

Agricultural disease diagnosis challenges VLMs, as conventional fine-tuning requires extensive labels, lacks interpretability, and generalizes poorly. While reasoning improves model robustness, existing methods rely on costly expert annotations and rarely address the open-ended, diverse nature of agricultural queries. To address these limitations, we propose \textbf{Agri-R1}, a reasoning-enhanced large model for agriculture. Our framework automates high-quality reasoning data generation via vision-language synthesis and LLM-based filtering, using only 19\% of available samples. Training employs Group Relative Policy Optimization (GRPO) with a novel proposed reward function that integrates domain-specific lexicons and fuzzy matching to assess both correctness and linguistic flexibility in open-ended responses. Evaluated on CDDMBench, our resulting 3B-parameter model achieves performance competitive with 7B- to 13B-parameter baselines, showing a +23.2\% relative gain in disease recognition accuracy, +33.3\% in agricultural knowledge QA, and a +26.10-point improvement in cross-domain generalization over standard fine-tuning. Ablation studies confirm that the synergy between structured reasoning data and GRPO-driven exploration underpins these gains, with benefits scaling as question complexity increases.

An Efficient Additive Kolmogorov-Arnold Transformer for Point-Level Maize Localization in Unmanned Aerial Vehicle Imagery

High-resolution UAV photogrammetry has become a key technology for precision agriculture, enabling centimeter-level crop monitoring and point-level plant localization. However, point-level maize localization in UAV imagery remains challenging due to (1) extremely small object-to-pixel ratios, typically less than 0.1%, (2) prohibitive computational costs of quadratic attention on ultra-high-resolution images larger than 3000 x 4000 pixels, and (3) agricultural scene-specific complexities such as sparse object distribution and environmental variability that are poorly handled by general-purpose vision models. To address these challenges, we propose the Additive Kolmogorov-Arnold Transformer (AKT), which replaces conventional multilayer perceptrons with Pade Kolmogorov-Arnold Network (PKAN) modules to enhance functional expressivity for small-object feature extraction, and introduces PKAN Additive Attention (PAA) to model multiscale spatial dependencies with reduced computational complexity. In addition, we present the Point-based Maize Localization (PML) dataset, consisting of 1,928 high-resolution UAV images with approximately 501,000 point annotations collected under real field conditions. Extensive experiments show that AKT achieves an average F1-score of 62.8%, outperforming state-of-the-art methods by 4.2%, while reducing FLOPs by 12.6% and improving inference throughput by 20.7%. For downstream tasks, AKT attains a mean absolute error of 7.1 in stand counting and a root mean square error of 1.95-1.97 cm in interplant spacing estimation. These results demonstrate that integrating Kolmogorov-Arnold representation theory with efficient attention mechanisms offers an effective framework for high-resolution agricultural remote sensing.

A Comparative Study of 3D Model Acquisition Methods for Synthetic Data Generation of Agricultural Products

In the manufacturing industry, computer vision systems based on artificial intelligence (AI) are widely used to reduce costs and increase production. Training these AI models requires a large amount of training data that is costly to acquire and annotate, especially in high-variance, low-volume manufacturing environments. A popular approach to reduce the need for real data is the use of synthetic data that is generated by leveraging computer-aided design (CAD) models available in the industry. However, in the agricultural industry these models are not readily available, increasing the difficulty in leveraging synthetic data. In this paper, we present different techniques for substituting CAD files to create synthetic datasets. We measure their relative performance when used to train an AI object detection model to separate stones and potatoes in a bin picking environment. We demonstrate that using highly representative 3D models acquired by scanning or using image-to-3D approaches can be used to generate synthetic data for training object detection models. Finetuning on a small real dataset can significantly improve the performance of the models and even get similar performance when less representative models are used.

WeedRepFormer: Reparameterizable Vision Transformers for Real-Time Waterhemp Segmentation and Gender Classification

We present WeedRepFormer, a lightweight multi-task Vision Transformer designed for simultaneous waterhemp segmentation and gender classification. Existing agricultural models often struggle to balance the fine-grained feature extraction required for biological attribute classification with the efficiency needed for real-time deployment. To address this, WeedRepFormer systematically integrates structural reparameterization across the entire architecture - comprising a Vision Transformer backbone, a Lite R-ASPP decoder, and a novel reparameterizable classification head - to decouple training-time capacity from inference-time latency. We also introduce a comprehensive waterhemp dataset containing 10,264 annotated frames from 23 plants. On this benchmark, WeedRepFormer achieves 92.18% mIoU for segmentation and 81.91% accuracy for gender classification using only 3.59M parameters and 3.80 GFLOPs. At 108.95 FPS, our model outperforms the state-of-the-art iFormer-T by 4.40% in classification accuracy while maintaining competitive segmentation performance and significantly reducing parameter count by 1.9x.

Experimental Comparison of Light-Weight and Deep CNN Models Across Diverse Datasets

Our results reveal that a well-regularized shallow architecture can serve as a highly competitive baseline across heterogeneous domains - from smart-city surveillance to agricultural variety classification - without requiring large GPUs or specialized pre-trained models. This work establishes a unified, reproducible benchmark for multiple Bangladeshi vision datasets and highlights the practical value of lightweight CNNs for real-world deployment in low-resource settings.

A Spatio-Temporal Deep Learning Approach For High-Resolution Gridded Monsoon Prediction

The Indian Summer Monsoon (ISM) is a critical climate phenomenon, fundamentally impacting the agriculture, economy, and water security of over a billion people. Traditional long-range forecasting, whether statistical or dynamical, has predominantly focused on predicting a single, spatially-averaged seasonal value, lacking the spatial detail essential for regional-level resource management. To address this gap, we introduce a novel deep learning framework that reframes gridded monsoon prediction as a spatio-temporal computer vision task. We treat multi-variable, pre-monsoon atmospheric and oceanic fields as a sequence of multi-channel images, effectively creating a video-like input tensor. Using 85 years of ERA5 reanalysis data for predictors and IMD rainfall data for targets, we employ a Convolutional Neural Network (CNN)-based architecture to learn the complex mapping from the five-month pre-monsoon period (January-May) to a high-resolution gridded rainfall pattern for the subsequent monsoon season. Our framework successfully produces distinct forecasts for each of the four monsoon months (June-September) as well as the total seasonal average, demonstrating its utility for both intra-seasonal and seasonal outlooks.

CPJ: Explainable Agricultural Pest Diagnosis via Caption-Prompt-Judge with LLM-Judged Refinement

Accurate and interpretable crop disease diagnosis is essential for agricultural decision-making, yet existing methods often rely on costly supervised fine-tuning and perform poorly under domain shifts. We propose Caption--Prompt--Judge (CPJ), a training-free few-shot framework that enhances Agri-Pest VQA through structured, interpretable image captions. CPJ employs large vision-language models to generate multi-angle captions, refined iteratively via an LLM-as-Judge module, which then inform a dual-answer VQA process for both recognition and management responses. Evaluated on CDDMBench, CPJ significantly improves performance: using GPT-5-mini captions, GPT-5-Nano achieves \textbf{+22.7} pp in disease classification and \textbf{+19.5} points in QA score over no-caption baselines. The framework provides transparent, evidence-based reasoning, advancing robust and explainable agricultural diagnosis without fine-tuning. Our code and data are publicly available at: https://github.com/CPJ-Agricultural/CPJ-Agricultural-Diagnosis.