Soybean–Corn Seedling Crop Row Detection for Agricultural Autonomous Navigation Based on GD-YOLOv10n-Seg

Tao Sun, Feixiang Le, Chen Cai, Yongkui Jin, Xinyu Xue () and Longfei Cui ()
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Tao Sun: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
Feixiang Le: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
Chen Cai: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
Yongkui Jin: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China
Xinyu Xue: Sino-USA Pesticide Application Technology Cooperative Laboratory, Nanjing 210014, China
Longfei Cui: Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China

Agriculture, 2025, vol. 15, issue 7, 1-21

Abstract: Accurate crop row detection is an important foundation for agricultural machinery to realize autonomous operation. Existing methods often compromise between real-time performance and detection accuracy, limiting their practical field applicability. This study develops a high-precision, efficient crop row detection algorithm specifically optimized for soybean–corn compound planting conditions, addressing both computational efficiency and recognition accuracy. In this paper, a real-time soybean–corn crop row detection method based on GD-YOLOv10n-seg with principal component analysis (PCA) fitting was proposed. Firstly, the dataset of soybean–corn seedling crop rows was established, and the images were labeled with line labels. Then, an improved model GD-YOLOv10n-seg model was constructed by integrating GhostModule and DynamicConv into the YOLOv10n-segmentation model. The experimental results showed that the improved model performed better in MPA and MIoU, and the model size was reduced by 18.3%. The crop row center lines of the segmentation results were fitted by PCA, where the fitting accuracy reached 95.08%, the angle deviation was 1.75°, and the overall processing speed was 61.47 FPS. This study can provide an efficient and reliable solution for agricultural autonomous navigation operations such as weeding and pesticide application under a soybean–corn compound planting mode.

Keywords: crop row detection; YOLOv10-segmentation; line fitting; lightweight (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2025
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