Crop and Weed Segmentation and Fractal Dimension Estimation Using Small Training Data in Heterogeneous Data Environment

Abstract

The segmentation of crops and weeds from camera-captured images is a demanding research area for advancing agricultural and smart farming systems. Previously, the segmentation of crops and weeds was conducted within a homogeneous data environment where training and testing data were from the same database. However, in the real-world application of advancing agricultural and smart farming systems, it is often the case of a heterogeneous data environment where a system trained with one database should be used for testing with a different database without additional training. This study pioneers the use of heterogeneous data for crop and weed segmentation, addressing the issue of degraded accuracy. Through adjusting the mean and standard deviation, we minimize the variability in pixel value and contrast, enhancing segmentation robustness. Unlike previous methods relying on extensive training data, our approach achieves real-world applicability with just one training sample for deep learning-based semantic segmentation. Moreover, we seamlessly integrated a method for estimating fractal dimensions into our system, incorporating it as an end-to-end task to provide important information on the distributional characteristics of crops and weeds. We evaluated our framework using the BoniRob dataset and the CWFID. When trained with the BoniRob dataset and tested with the CWFID, we obtained a mean intersection of union (mIoU) of 62% and an F1-score of 75.2%. Furthermore, when trained with the CWFID and tested with the BoniRob dataset, we obtained an mIoU of 63.7% and an F1-score of 74.3%. We confirmed that these values are higher than those obtained by state-of-the-art methods.