Visual navigation is developing rapidly and is of great significance to improve agricultural automation. The most important issue involved in visual navigation is extracting a guidance path from agricultural field images. Traditional image segmentation methods may fail to work in paddy field, for the colors of weed, duckweed, and eutrophic water surface are very similar to those of real rice seedings. To deal with these problems, a crop row segmentation and detection algorithm, designed for complex paddy fields, is proposed. Firstly, the original image is transformed to the grayscale image and then the treble-classification Otsu method classifies the pixels in the grayscale image into three clusters according to their gray values. Secondly, the binary image is divided into several horizontal strips, and feature points representing green plants are extracted. Lastly, the proposed double-dimensional adaptive clustering method, which can deal with gaps inside a single crop row and misleading points between real crop rows, is applied to obtain the clusters of real crop rows and the corresponding fitting line. Quantitative validation tests of efficiency and accuracy have proven that the combination of these two methods constitutes a new robust integrated solution, with attitude error and distance error within 0.02° and 10 pixels, respectively. The proposed method achieved better quantitative results than the detection method based on typical Otsu under various conditions.

The advances of hyperspectral technology provide a new analytic means to decrease the gap of phenomics and genomics caused by the fast development of plant genomics with the next generation sequencing technology. Through hyperspectral technology, it is possible to phenotype the biochemical attributes of rice seeds and use the data for GWAS. The results of correlation analysis indicated that Normalized Difference Spectral Index (NDSI) had high correlation with protein content (PC) with R NDSI 2 = 0.68. Based on GWAS analysis using all the traits, NDSI was able to identify the same SNP loci as rice protein content that was measured by traditional methods. In total, hyperspectral trait NDSI identified all the 43 genes that were identified by biochemical trait PC. NDSI identified 1 extra SNP marker on chromosome 1, which annotated extra 22 genes that were not identified by PC. Kegg annotation results showed that traits NDSI annotated 3 pathways that are exactly the same as PC. The cysteine and methionine metabolic pathway identified by both NDSI and PC was reported important for biosynthesis and metabolism of some of amino acids/protein in rice seeds. This study combined hyperspectral technology and GWAS analysis to dissect PC of rice seeds, which was high throughput and proven to be able to apply to GWAS as a new phenotyping tool. It provided a new means to phenotype one of the important biochemical traits for the determination of rice quality that could be used for genetic studies.

Using intelligent agricultural machines in paddy fields has received great attention. An obstacle avoidance system is required with the development of agricultural machines. In order to make the machines more intelligent, detecting and tracking obstacles, especially the moving obstacles in paddy fields, is the basis of obstacle avoidance. To achieve this goal, a red, green and blue (RGB) camera and a computer were used to build a machine vision system, mounted on a transplanter. A method that combined the improved You Only Look Once version 3 (Yolov3) and deep Simple Online and Realtime Tracking (deep SORT) was used to detect and track typical moving obstacles, and figure out the center point positions of the obstacles in paddy fields. The improved Yolov3 has 23 residual blocks and upsamples only once, and has new loss calculation functions. Results showed that the improved Yolov3 obtained mean intersection over union (mIoU) score of 0.779 and was 27.3% faster in processing speed than standard Yolov3 on a self-created test dataset of moving obstacles (human and water buffalo) in paddy fields. An acceptable performance for detecting and tracking could be obtained in a real paddy field test with an average processing speed of 5–7 frames per second (FPS), which satisfies actual work demands. In future research, the proposed system could support the intelligent agriculture machines more flexible in autonomous navigation.