Development of a bionic hexapod robot with adaptive gait and clearance for enhanced agricultural field scouting.

High agility, maneuverability, and payload capacity, combined with small footprints, make legged robots well-suited for precision agriculture applications. In this study, we introduce a novel bionic hexapod robot designed for agricultural applications to address the limitations of traditional wheeled and aerial robots. The robot features a terrain-adaptive gait and adjustable clearance to ensure stability and robustness over various terrains and obstacles. Equipped with a high-precision Inertial Measurement Unit (IMU), the robot is able to monitor its attitude in real time to maintain balance. To enhance obstacle detection and self-navigation capabilities, we have designed an advanced version of the robot equipped with an optional advanced sensing system. This advanced version includes LiDAR, stereo cameras, and distance sensors to enable obstacle detection and self-navigation capabilities. We have tested the standard version of the robot under different ground conditions, including hard concrete floors, rugged grass, slopes, and uneven field with obstacles. The robot maintains good stability with pitch angle fluctuations ranging from -11.5° to 8.6° in all conditions and can walk on slopes with gradients up to 17°. These trials demonstrated the robot's adaptability to complex field environments and validated its ability to maintain stability and efficiency. In addition, the terrain-adaptive algorithm is more energy efficient than traditional obstacle avoidance algorithms, reducing energy consumption by 14.4% for each obstacle crossed. Combined with its flexible and lightweight design, our robot shows significant potential in improving agricultural practices by increasing efficiency, lowering labor costs, and enhancing sustainability. In our future work, we will further develop the robot's energy efficiency, durability in various environmental conditions, and compatibility with different crops and farming methods.

Plant disease recognition datasets in the age of deep learning: challenges and opportunities.

Although plant disease recognition has witnessed a significant improvement with deep learning in recent years, a common observation is that current deep learning methods with decent performance tend to suffer in real-world applications. We argue that this illusion essentially comes from the fact that current plant disease recognition datasets cater to deep learning methods and are far from real scenarios. Mitigating this illusion fundamentally requires an interdisciplinary perspective from both plant disease and deep learning, and a core question arises. What are the characteristics of a desired dataset? This paper aims to provide a perspective on this question. First, we present a taxonomy to describe potential plant disease datasets, which provides a bridge between the two research fields. We then give several directions for making future datasets, such as creating challenge-oriented datasets. We believe that our paper will contribute to creating datasets that can help achieve the ultimate objective of deploying deep learning in real-world plant disease recognition applications. To facilitate the community, our project is publicly available at https://github.com/xml94/PPDRD with the information of relevant public datasets.

Intelligent agricultural robotic detection system for greenhouse tomato leaf diseases using soft computing techniques and deep learning.

The development of soft computing methods has had a significant influence on the subject of autonomous intelligent agriculture. This paper offers a system for autonomous greenhouse navigation that employs a fuzzy control algorithm and a deep learning-based disease classification model for tomato plants, identifying illnesses using photos of tomato leaves. The primary novelty in this study is the introduction of an upgraded Deep Convolutional Generative Adversarial Network (DCGAN) that creates augmented pictures of disease tomato leaves from original genuine samples, considerably enhancing the training dataset. To find the optimum training model, four deep learning networks (VGG19, Inception-v3, DenseNet-201, and ResNet-152) were carefully compared on a dataset of nine tomato leaf disease classes. These models have validation accuracy of 92.32%, 90.83%, 96.61%, and 97.07%, respectively, when using the original PlantVillage dataset. The system then uses an enhanced dataset with ResNet-152 network design to achieve a high accuracy of 99.69%, as compared to the original dataset with ResNet-152's accuracy of 97.07%. This improvement indicates the use of the proposed DCGAN in improving the performance of the deep learning model for greenhouse plant monitoring and disease detection. Furthermore, the proposed approach may have a broader use in various agricultural scenarios, potentially altering the field of autonomous intelligent agriculture.

An adaptive hexagonal deployment model for resilient wireless sensor networks in precision agriculture.

This study presents an innovative hexagonal deployment model designed specifically for wireless sensor networks (WSNs) with a primary application in precision agriculture. The proposed protocol integrates advanced features, notably an adaptive frequency-hopping spread spectrum (AFHSS) mechanism and a decentralized real-time adaptation strategy to optimize data transmission in dynamic agricultural environments. The simulation study, conducted in diverse terrains with realistic sensor node distributions, meticulously evaluates the protocol's performance using comprehensive Quality of Service (QoS) metrics. The hexagonal deployment model operates by strategically positioning sensor nodes in a hexagonal grid pattern, ensuring uniform coverage of the agricultural field. The AFHSS mechanism dynamically adjusts frequency channels, mitigating interference and fortifying the network's robustness against external disruptions. Complementing this, the decentralized real-time adaptation empowers individual nodes to autonomously respond to the ever-changing environmental conditions, optimizing data transmission efficiency. Quantitative results from the simulations exhibit outstanding performance metrics. The protocol achieves an average latency of 50 milliseconds, a packet loss rate below 2%, a success rate exceeding 95%, and highly efficient obstacle management, with adjusted nodes accounting for less than 5%. These compelling outcomes underscore the protocol's exceptional ability to deliver responsive and reliable data transmission, positioning it as a promising solution for enhancing environmental monitoring in precision agriculture. This study provides quantitative evidence of the protocol's prowess and delves into the nuanced working mechanisms, offering a deeper understanding of its potential impact. The findings contribute significant insights to the field, serving as a robust foundation for researchers and practitioners engaged in designing and implementing resilient WSNs tailored for precision agriculture applications.

Integrating IoT for Soil Monitoring and Hybrid Machine Learning in Predicting Tomato Crop Disease in a Typical South India Station.

This study develops a hybrid machine learning (ML) algorithm integrated with IoT technology to improve the accuracy and efficiency of soil monitoring and tomato crop disease prediction in Anakapalle, a south Indian station. An IoT device collected one-minute and critical soil parameters-humidity, temperature, pH values, nitrogen (N), phosphorus (P), and potassium (K), during the vegetative growth stage, which are essential for assessing soil health and optimizing crop growth. Kendall's correlations were computed to rank these parameters for utilization in hybrid ML techniques. Various ML algorithms including K-nearest neighbors (KNN), support vector machines (SVM), decision tree (DT), random forest (RF), and logistic regression (LR) were evaluated. A novel hybrid algorithm, 'Bayesian optimization with KNN', was introduced to combine multiple ML techniques and enhance predictive performance. The hybrid algorithm demonstrated superior results with 95% accuracy, precision, and recall, and an F1 score of 94%, while individual ML algorithms achieved varying results: KNN (80% accuracy), SVM (82%), DT (77%), RF (80%), and LR (81%) with differing precision, recall, and F1 scores. This hybrid ML approach proved highly effective in predicting tomato crop diseases in natural environments, underscoring the synergistic benefits of IoT and advanced ML techniques in optimizing agricultural practices.

A Versatile, Machine-Learning-Enhanced RF Spectral Sensor for Developing a Trunk Hydration Monitoring System in Smart Agriculture.

This paper comprehensively explores the development of a standalone and compact microwave sensing system tailored for automated radio frequency (RF) scattered parameter acquisitions. Coupled with an emitting RF device (antenna, resonator, open waveguide), the system could be used for non-invasive monitoring of external matter or latent environmental variables. Central to this design is the integration of a NanoVNA and a Raspberry Pi Zero W platform, allowing easy recording of S-parameters (scattering parameters) in the range of the 50 kHz-4.4 GHz frequency band. Noteworthy features include dual recording modes, manual for on-demand acquisitions and automatic for scheduled data collection, powered seamlessly by a single battery source. Thanks to the flexibility of the system's architecture, which embeds a Linux operating system, we can easily embed machine learning (ML) algorithms and predictive models for information detection. As a case study, the potential application of the integrated sensor system with an RF patch antenna is explored in the context of greenwood hydration detection within the field of smart agriculture. This innovative system enables non-invasive monitoring of wood hydration levels by analyzing scattering parameters (S-parameters). These S-parameters are then processed using ML techniques to automate the monitoring process, enabling real-time and predictive analysis of moisture levels.

Petri-Net-Based Charging Scheduling Optimization in Rechargeable Sensor Networks.

In order to express the energy flow, motion flow, and control flow in wireless rechargeable sensor networks accurately and intuitively, and to maximize the charging benefit of MVs (mobile vehicles), a type of MTS-HACO (Mobile Transition Sequence Hybrid Ant Colony Optimization) is proposed. Firstly, node places are grouped according to the firing time of node's energy consumption transition to ensure that in each time slot, MV places only enable charging transitions for the node places with lower remaining lifetimes. Then, the FSOMCT (Firing Sequence Optimization of Mobile Charging Transition) problem is formulated under the constraints of MV places capacity, travelling arc weight, charging arc weight, and so on. The elite strategy and the Max-Min Ant Colony system are further introduced to improve the ant colony algorithm, while the improved FWA (fireworks algorithm) optimizes the path constructed by each ant. Finally, the optimal mobile charging transition firing sequence and charging times are obtained, ensuring that MVs have sufficient energy to return to the base station. Simulation results indicate that, compared with the periodic algorithm and the PE-FWA algorithm, the proposed method can improve charging benefit by approximately 48.7% and 26.3%, respectively.

Lure Monitoring for Mediterranean Fruit Fly Traps Using Air Quality Sensors.

Effective pest population monitoring is crucial in precision agriculture, which integrates various technologies and data analysis techniques for enhanced decision-making. This study introduces a novel approach for monitoring lures in traps targeting the Mediterranean fruit fly, utilizing air quality sensors to detect total volatile organic compounds (TVOC) and equivalent carbon dioxide (eCO2). Our results indicate that air quality sensors, specifically the SGP30 and ENS160 models, can reliably detect the presence of lures, reducing the need for frequent physical trap inspections and associated maintenance costs. The ENS160 sensor demonstrated superior performance, with stable detection capabilities at a predefined distance from the lure, suggesting its potential for integration into smart trap designs. This is the first study to apply TVOC and eCO2 sensors in this context, paving the way for more efficient and cost-effective pest monitoring solutions in smart agriculture environments.

Unveiling temporal and spatial research trends in precision agriculture: A BERTopic text mining approach.

This study leverages the BERTopic algorithm to analyze the evolution of research within precision agriculture, identifying 37 distinct topics categorized into eight subfields: Data Analysis, IoT, UAVs, Soil and Water Management, Crop and Pest Management, Livestock, Sustainable Agriculture, and Technology Innovation. By employing BERTopic, based on a transformer architecture, this research enhances topic refinement and diversity, distinguishing it from traditional reviews. The findings highlight a significant shift towards IoT innovations, such as security and privacy, reflecting the integration of smart technologies with traditional agricultural practices. Notably, this study introduces a comprehensive popularity index that integrates trend intensity with topic proportion, providing nuanced insights into topic dynamics across countries and journals. The analysis shows that regions with robust research and development, such as the USA and Germany, are advancing in technologies like Machine Learning and IoT, while the diversity in research topics, assessed through information entropy, indicates a varied global research scope. These insights assist scholars and research institutions in selecting research directions and provide newcomers with an understanding of the field's dynamics.

Integration of Diffusion Transformer and Knowledge Graph for Efficient Cucumber Disease Detection in Agriculture.

In this study, a deep learning method combining knowledge graph and diffusion Transformer has been proposed for cucumber disease detection. By incorporating the diffusion attention mechanism and diffusion loss function, the research aims to enhance the model's ability to recognize complex agricultural disease features and to address the issue of sample imbalance efficiently. Experimental results demonstrate that the proposed method outperforms existing deep learning models in cucumber disease detection tasks. Specifically, the method achieved a precision of 93%, a recall of 89%, an accuracy of 92%, and a mean average precision (mAP) of 91%, with a frame rate of 57 frames per second (FPS). Additionally, the study successfully implemented model lightweighting, enabling effective operation on mobile devices, which supports rapid on-site diagnosis of cucumber diseases. The research not only optimizes the performance of cucumber disease detection, but also opens new possibilities for the application of deep learning in the field of agricultural disease detection.

Performance evaluation of semi-supervised learning frameworks for multi-class weed detection.

Precision weed management (PWM), driven by machine vision and deep learning (DL) advancements, not only enhances agricultural product quality and optimizes crop yield but also provides a sustainable alternative to herbicide use. However, existing DL-based algorithms on weed detection are mainly developed based on supervised learning approaches, typically demanding large-scale datasets with manual-labeled annotations, which can be time-consuming and labor-intensive. As such, label-efficient learning methods, especially semi-supervised learning, have gained increased attention in the broader domain of computer vision and have demonstrated promising performance. These methods aim to utilize a small number of labeled data samples along with a great number of unlabeled samples to develop high-performing models comparable to the supervised learning counterpart trained on a large amount of labeled data samples. In this study, we assess the effectiveness of a semi-supervised learning framework for multi-class weed detection, employing two well-known object detection frameworks, namely FCOS (Fully Convolutional One-Stage Object Detection) and Faster-RCNN (Faster Region-based Convolutional Networks). Specifically, we evaluate a generalized student-teacher framework with an improved pseudo-label generation module to produce reliable pseudo-labels for the unlabeled data. To enhance generalization, an ensemble student network is employed to facilitate the training process. Experimental results show that the proposed approach is able to achieve approximately 76% and 96% detection accuracy as the supervised methods with only 10% of labeled data in CottonWeedDet3 and CottonWeedDet12, respectively. We offer access to the source code (https://github.com/JiajiaLi04/SemiWeeds), contributing a valuable resource for ongoing semi-supervised learning research in weed detection and beyond.

WeedCube: Proximal hyperspectral image dataset of crops and weeds for machine learning applications.

WeedCube dataset consists of hyperspectral images of three crops (canola, soybean, and sugarbeet) and four invasive weeds species (kochia, common waterhemp, redroot pigweed, and common ragweed). Plants were grown in two separate greenhouses and plant canopies were captured from a top-down camera angle. A push-broom hyperspectral sensor in the visible near infrared region of 400-1000 nm was used for data collection. The dataset includes 160 calibrated images. The number of images can be further increased by selection of smaller region of interests (ROIs). Dataset is supplemented by Jupyter Notebook scripts that help in data augmentation, spectral pre-processing, ROI selection for points and images, and data visualization. The primary purpose of this dataset is to support weed classification or identification studies by enhancing existing training datasets and validating the generalization capabilities of existing models. Owing to the three-dimensional (3D) nature of hyperspectral images, this dataset can also be utilized by researchers and educators across various domains for the development and testing of deep learning algorithms, the creation of automated data processing pipelines effective for 3D data, the development of tools for 3D data visualization, the creation of innovative solutions for data compression, and addressing system memory issues associated with high-dimensional data.

Sensorizing a Beehive: A Study on Potential Embedded Solutions for Internal Contactless Monitoring of Bees Activity.

Winter is the season of main concern for beekeepers since the temperature, humidity, and potential infection from mites and other diseases may lead the colony to death. As a consequence, beekeepers perform invasive checks on the colonies, exposing them to further harm. This paper proposes a novel design of an instrumented beehive involving color cameras placed inside the beehive and at the bottom of it, paving the way for new frontiers in beehive monitoring. The overall acquisition system is described focusing on design choices towards an effective solution for internal, contactless, and stress-free beehive monitoring. To validate our approach, we conducted an experimental campaign in 2023 and analyzed the collected images with YOLOv8 to understand if the proposed solution can be useful for beekeepers and what kind of information can be derived from this kind of monitoring, including the presence of Varroa destructor mites inside the beehive. We experimentally found that the observation point inside the beehive is the most challenging due to the frequent movements of the bees and the difficulties related to obtaining in-focus images. However, from these images, it is possible to find Varroa destructor mites. On the other hand, the observation point at the bottom of the beehive showed great potential for understanding the overall activity of the colony.

Evaluating UAV-Based Remote Sensing for Hay Yield Estimation.

(1) Background: Yield-monitoring systems are widely used in grain crops but are less advanced for hay and forage. Current commercial systems are generally limited to weighing individual bales, limiting the spatial resolution of maps of hay yield. This study evaluated an Uncrewed Aerial Vehicle (UAV)-based imaging system to estimate hay yield. (2) Methods: Data were collected from three 0.4 ha plots and a 35 ha hay field of red clover and timothy grass in September 2020. A multispectral camera on the UAV captured images at 30 m (20 mm pixel-1) and 50 m (35 mm pixel-1) heights. Eleven Vegetation Indices (VIs) and five texture features were calculated from the images to estimate biomass yield. Multivariate regression models (VIs and texture features vs. biomass) were evaluated. (3) Results: Model R2 values ranged from 0.31 to 0.68. (4) Conclusions: Despite strong correlations between standard VIs and biomass, challenges such as variable image resolution and clarity affected accuracy. Further research is needed before UAV-based yield estimation can provide accurate, high-resolution hay yield maps.

A Comprehensive Review of LiDAR Applications in Crop Management for Precision Agriculture.

Precision agriculture has revolutionized crop management and agricultural production, with LiDAR technology attracting significant interest among various technological advancements. This extensive review examines the various applications of LiDAR in precision agriculture, with a particular emphasis on its function in crop cultivation and harvests. The introduction provides an overview of precision agriculture, highlighting the need for effective agricultural management and the growing significance of LiDAR technology. The prospective advantages of LiDAR for increasing productivity, optimizing resource utilization, managing crop diseases and pesticides, and reducing environmental impact are discussed. The introduction comprehensively covers LiDAR technology in precision agriculture, detailing airborne, terrestrial, and mobile systems along with their specialized applications in the field. After that, the paper reviews the several uses of LiDAR in agricultural cultivation, including crop growth and yield estimate, disease detection, weed control, and plant health evaluation. The use of LiDAR for soil analysis and management, including soil mapping and categorization and the measurement of moisture content and nutrient levels, is reviewed. Additionally, the article examines how LiDAR is used for harvesting crops, including its use in autonomous harvesting systems, post-harvest quality evaluation, and the prediction of crop maturity and yield. Future perspectives, emergent trends, and innovative developments in LiDAR technology for precision agriculture are discussed, along with the critical challenges and research gaps that must be filled. The review concludes by emphasizing potential solutions and future directions for maximizing LiDAR's potential in precision agriculture. This in-depth review of the uses of LiDAR gives helpful insights for academics, practitioners, and stakeholders interested in using this technology for effective and environmentally friendly crop management, which will eventually contribute to the development of precision agricultural methods.

Design, modeling and in silico simulation of bacterial biosensors for detecting heavy metals in irrigation water for precision agriculture.

Sensors used in precision agriculture for the detection of heavy metals in irrigation water are generally expensive and sometimes their deployment and maintenance represent a permanent investment to keep them in operation, leaving a lasting polluting footprint in the environment at the end of their lifespan. This represents an area of opportunity to design new biological devices that can replace part, or all of the sensors currently used. In this article, a novel workflow is proposed to fully carry out the complete process of design, modeling, and simulation of reprogrammable microorganisms in silico. As a proof-of-concept, the workflow has been used to design three whole-cell biosensors for the detection of heavy metals in irrigation water, namely arsenic, mercury and lead. These biosensors are in compliance with the concentration limits established by the World Health Organization (WHO). The proposed workflow allows the design of a wide variety of completely in silico biodevices, which aids in solving problems that cannot be easily addressed with classical computing. The workflow is based on two technologies typical of synthetic biology: the design of synthetic genetic circuits, and in silico synthetic engineering, which allows us to address the design of reprogrammable microorganisms using software and hardware to develop theoretical models. These models enable the behavior prediction of complex biological systems. The output of the workflow is then exported in the form of complete genomes in SBOL, GenBank and FASTA formats, enabling their subsequent in vivo implementation in a laboratory. The present proposal enables professionals in the area of computer science to collaborate in biotechnological processes from a theoretical perspective previously or complementary to a design process carried out directly in the laboratory by molecular biologists. Therefore, key results pertaining to this work include the fully in silico workflow that leads to designs that can be tested in the lab in vitro or in vivo, and a proof-of-concept of how the workflow generates synthetic circuits in the form of three whole-cell heavy metal biosensors that were designed, modeled and simulated using the workflow. The simulations carried out show realistic spatial distributions of biosensors reacting to different concentrations (zero, low and threshold level) of heavy metal presence and at different growth phases (stationary and exponential) that are backed up by the whole design and modeling phases of the workflow.

Machine learning approaches for estimation of the fraction of absorbed photosynthetically active radiation and net photosynthesis rate of maize using multi-spectral sensor.

The fraction of absorbed photosynthetically active radiation (FAPAR) and the photosynthesis rate (Pn) of maize canopies were identified as essential photosynthetic parameters for accurately estimating vegetation growth and productivity using multispectral vegetation indices (VIs). Despite their importance, few studies have compared the effectiveness of multispectral imagery and various machine learning techniques in estimating these photosynthetic traits under high vegetation coverage. In this study, seventeen multispectral VIs and four machine learning (ML) algorithms were utilized to determine the most suitable model for estimating maize FAPAR and Pn during the kharif and rabi seasons at Tamil Nadu Agricultural University, Coimbatore, India. Results demonstrate that indices such as OSAVI, SAVI, EVI-2, and MSAVI-2 during the kharif and MNDVIRE and MSRRE during the rabi season outperformed others in estimating FAPAR and Pn values. Among the four ML methods of random forest (RF), extreme gradient boosting (XGBoost), support vector regression (SVR), and multiple linear regression (MLR) considered, RF consistently showed the most effective fitting effect and XGBoost demonstrated the least fitting accuracy for FAPAR and Pn estimation. However, SVR with R2 = 0.873 and RMSE = 0.045 during the kharif and MLR with R2 = 0.838 and RMSE = 0.053 during the rabi season demonstrated higher fitting accuracy, particularly notable for FAPAR prediction. Similarly, in the prediction of Pn, MLR showed higher fitting accuracy with R2 = 0.741 and RMSE = 2.531 during the kharif and R2 = 0.955 and RMSE = 1.070 during the rabi season. This study demonstrated the potential of combining UAV-derived VIs with ML to develop accurate FAPAR and Pn prediction models, overcoming VI saturation in dense vegetation. It underscores the importance of optimizing these models to improve the accuracy of maize vegetation assessments during various growing seasons.

Utilizing High-Resolution Imaging and Artificial Intelligence for Accurate Leaf Wetness Detection for the Strawberry Advisory System (SAS).

In strawberry cultivation, precise disease management is crucial for maximizing yields and reducing unnecessary fungicide use. Traditional methods for measuring leaf wetness duration (LWD), a critical factor in assessing the risk of fungal diseases such as botrytis fruit rot and anthracnose, have been reliant on sensors with known limitations in accuracy and reliability and difficulties with calibrating. To overcome these limitations, this study introduced an innovative algorithm for leaf wetness detection systems employing high-resolution imaging and deep learning technologies, including convolutional neural networks (CNNs). Implemented at the University of Florida's Plant Science Research and Education Unit (PSREU) in Citra, FL, USA, and expanded to three additional locations across Florida, USA, the system captured and analyzed images of a reference plate to accurately determine the wetness and, consequently, the LWD. The comparison of system outputs with manual observations across diverse environmental conditions demonstrated the enhanced accuracy and reliability of the artificial intelligence-driven approach. By integrating this system into the Strawberry Advisory System (SAS), this study provided an efficient solution to improve disease risk assessment and fungicide application strategies, promising significant economic benefits and sustainability advances in strawberry production.

Probing Biological Nitrogen Fixation in Legumes Using Raman Spectroscopy.

Biological nitrogen fixation (BNF) by symbiotic bacteria plays a vital role in sustainable agriculture. However, current quantification methods are often expensive and impractical. This study explores the potential of Raman spectroscopy, a non-invasive technique, for rapid assessment of BNF activity in soybeans. Raman spectra were obtained from soybean plants grown with and without rhizobia bacteria to identify spectral signatures associated with BNF. δN15 isotope ratio mass spectrometry (IRMS) was used to determine actual BNF percentages. Partial least squares regression (PLSR) was employed to develop a model for BNF quantification based on Raman spectra. The model explained 80% of the variation in BNF activity. To enhance the model's specificity for BNF detection regardless of nitrogen availability, a subsequent elastic net (Enet) regularisation strategy was implemented. This approach provided insights into key wavenumbers and biochemicals associated with BNF in soybeans.

Semantic Segmentation in Large-Size Orthomosaics to Detect the Vegetation Area in Opuntia spp. Crop.

This study focuses on semantic segmentation in crop Opuntia spp. orthomosaics; this is a significant challenge due to the inherent variability in the captured images. Manual measurement of Opuntia spp. vegetation areas can be slow and inefficient, highlighting the need for more advanced and accurate methods. For this reason, we propose to use deep learning techniques to provide a more precise and efficient measurement of the vegetation area. Our research focuses on the unique difficulties posed by segmenting high-resolution images exceeding 2000 pixels, a common problem in generating orthomosaics for agricultural monitoring. The research was carried out on a Opuntia spp. cultivation located in the agricultural region of Tulancingo, Hidalgo, Mexico. The images used in this study were obtained by drones and processed using advanced semantic segmentation architectures, including DeepLabV3+, UNet, and UNet Style Xception. The results offer a comparative analysis of the performance of these architectures in the semantic segmentation of Opuntia spp., thus contributing to the development and improvement of crop analysis techniques based on deep learning. This work sets a precedent for future research applying deep learning techniques in agriculture.