{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T05:38:38Z","timestamp":1776922718629,"version":"3.51.2"},"reference-count":41,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100004317","name":"Shihezi University","doi-asserted-by":"publisher","award":["GJHZ202404"],"award-info":[{"award-number":["GJHZ202404"]}],"id":[{"id":"10.13039\/501100004317","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["32372592"],"award-info":[{"award-number":["32372592"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008862","name":"China National Tobacco Corporation","doi-asserted-by":"publisher","award":["110202301017"],"award-info":[{"award-number":["110202301017"]}],"id":[{"id":"10.13039\/501100008862","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Computers and Electronics in Agriculture"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1016\/j.compag.2026.111728","type":"journal-article","created":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T07:19:31Z","timestamp":1775200771000},"page":"111728","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Robust under-canopy navigation path extraction for collaborative harvesting robots using semi-supervised UniMatch V2 segmentation enhanced by edge-contour keypoint clustering"],"prefix":"10.1016","volume":"247","author":[{"given":"Rui","family":"Su","sequence":"first","affiliation":[]},{"given":"Cheng","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Zhentao","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Ling","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Xu","family":"Mao","sequence":"additional","affiliation":[]},{"given":"Lei","family":"Gao","sequence":"additional","affiliation":[]},{"given":"Du","family":"Chen","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"issue":"1","key":"10.1016\/j.compag.2026.111728_b0005","doi-asserted-by":"crossref","first-page":"28","DOI":"10.1007\/s10846-025-02219-2","article-title":"CROW: a self-supervised crop row navigation algorithm for agricultural fields","volume":"111","author":"Affonso","year":"2025","journal-title":"Journal of Intelligent & Robotic Systems."},{"key":"10.1016\/j.compag.2026.111728_b0010","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107584","article-title":"Vision-based navigation and guidance for agricultural autonomous vehicles and robots: a review","volume":"205","author":"Bai","year":"2023","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0015","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.110124","article-title":"Fusion of monocular camera and 3D LiDAR data for navigation line extraction under corn canopy","volume":"232","author":"Ban","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0020","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.108993","article-title":"Precision agriculture in the United States: a comprehensive meta-review inspiring further research, innovation, and adoption","volume":"221","author":"Barbosa J\u00fanior","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2025.111549","article-title":"Research on efficient and fast extraction of vineyard navigation path based on key point detection","volume":"159","author":"Chen","year":"2025","journal-title":"Eng. Appl. Artif. Intel."},{"issue":"3","key":"10.1016\/j.compag.2026.111728_b0030","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1007\/s11119-025-10243-3","article-title":"Navigation line detection algorithm for corn spraying robot based on improved LT-YOLOv10s","volume":"26","author":"Diao","year":"2025","journal-title":"Precis. Agric."},{"issue":"1","key":"10.1016\/j.compag.2026.111728_b0035","first-page":"94","article-title":"Application of navigation technology in agricultural machinery: a review and prospects","volume":"16","author":"Feng","year":"2026","journal-title":"Artif. Intell. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0040","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109759","article-title":"Seedling row extraction on unmanned rice transplanter operating side based on semi-supervised semantic segmentation","volume":"230","author":"Gan","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0045","series-title":"In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","first-page":"11824","article-title":"CropNav: a framework for autonomous navigation in real farms","author":"Gasparino","year":"2023"},{"key":"10.1016\/j.compag.2026.111728_b0050","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107388","article-title":"Deep learning-based early weed segmentation using motion blurred UAV images of sorghum fields","volume":"202","author":"Genze","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0055","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109707","article-title":"Efficient weed segmentation in maize fields: a semi-supervised approach for precision weed management with reduced annotation overhead","volume":"229","author":"Guo","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0060","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.110161","article-title":"Reconfigurable agricultural robotics: control strategies, communication, and applications","volume":"234","author":"Hern\u00e1ndez","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0065","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109168","article-title":"Deep learning improved YOLOv8 algorithm: real-time precise instance segmentation of crown region orchard canopies in natural environment","volume":"224","author":"Khan","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0070","unstructured":"Lee, D. H., 2013. Pseudo-label: the simple and efficient semi-supervised learning method for deep neural networks. In: ICML Workshop on Challenges in Representation Learning, Atlanta, USA, p. 896. https:\/\/api.semanticscholar.org\/CorpusID:18507866."},{"key":"10.1016\/j.compag.2026.111728_b0075","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109687","article-title":"A single-stage navigation path extraction network for agricultural robots in orchards","volume":"229","author":"Liu","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0080","doi-asserted-by":"crossref","DOI":"10.1016\/j.cropro.2023.106389","article-title":"Semi-supervised learning and attention mechanism for weed detection in wheat","volume":"174","author":"Liu","year":"2023","journal-title":"Crop Prot."},{"key":"10.1016\/j.compag.2026.111728_b0085","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2024.104854","article-title":"GPS-free autonomous navigation in cluttered tree rows with deep semantic segmentation","volume":"183","author":"Navone","year":"2025","journal-title":"Rob. Auton. Syst."},{"key":"10.1016\/j.compag.2026.111728_b0090","doi-asserted-by":"crossref","DOI":"10.3389\/fpls.2022.927368","article-title":"Semi-supervised learning for weed and crop segmentation using UAV imagery","volume":"13","author":"Nong","year":"2022","journal-title":"Front. Plant Sci."},{"key":"10.1016\/j.compag.2026.111728_b0095","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1016\/j.compind.2018.03.008","article-title":"Machine vision for orchard navigation","volume":"98","author":"Radcliffe","year":"2018","journal-title":"Comput. Ind."},{"key":"10.1016\/j.compag.2026.111728_b0100","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109108","article-title":"High-throughput proximal ground crop phenotyping systems \u2013 a comprehensive review","volume":"224","author":"Rui","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0105","article-title":"Precision farming for sustainability: an agricultural intelligence model","volume":"226","author":"Vinod Chandra","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0110","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109839","article-title":"Smart vineyard row navigation: a machine vision approach leveraging YOLOv8","volume":"229","author":"Saha","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0115","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2023.108557","article-title":"Aerial imagery-based tobacco plant counting framework for efficient crop emergence estimation","volume":"217","author":"Shahid","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0120","doi-asserted-by":"crossref","unstructured":"Sivakumar, A. N. V., Gasparino, M. V., McGuire, M., Higuti, V. A. H., Akcal, M. U., Chowdhary, G., 2024. Lessons from deploying CropFollow++: under-canopy agricultural navigation with keypoints. arXiv preprint. arXiv:2404.17718. Doi: 10.48550\/arXiv.2404.17718.","DOI":"10.15607\/RSS.2024.XX.023"},{"key":"10.1016\/j.compag.2026.111728_b0125","unstructured":"Sivakumar, A. N. V., Magistri, F., Gasparino, M. V., Behley, J., Stachniss, C., Chowdhary, G., 2024. AdaCropFollow: self-supervised online adaptation for visual under-canopy navigation. arXiv preprint. arXiv:2410.12411. Doi: 10.48550\/arXiv.2410.12411."},{"key":"10.1016\/j.compag.2026.111728_b0130","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2019.05.023","article-title":"Vision-based monitoring of orchards with UAVs","volume":"163","author":"Stefas","year":"2019","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0135","doi-asserted-by":"crossref","DOI":"10.3389\/fpls.2025.1659559","article-title":"Missed transplanting rate evaluation method for tobacco seedling transplanter based on UAV imagery and improved YOLOv5s","volume":"16","author":"Su","year":"2025","journal-title":"Front. Plant Sci."},{"key":"10.1016\/j.compag.2026.111728_b0140","first-page":"843","article-title":"Revisiting unreasonable effectiveness of data in deep learning era","volume":"2017","author":"Sun","year":"2017","journal-title":"IEEE International Conference on Computer Vision (ICCV)"},{"issue":"8","key":"10.1016\/j.compag.2026.111728_b0145","doi-asserted-by":"crossref","first-page":"1467","DOI":"10.1109\/JPROC.2010.2050290","article-title":"LabelMe: online image annotation and applications","volume":"98","author":"Torralba","year":"2010","journal-title":"Proc. IEEE"},{"key":"10.1016\/j.compag.2026.111728_b0150","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107085","article-title":"Applications of machine vision in agricultural robot navigation: a review","volume":"198","author":"Wang","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0155","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.110131","article-title":"AI-driven adaptive grasping and precise detaching robot for efficient citrus harvesting","volume":"232","author":"Woon Choi","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0160","doi-asserted-by":"crossref","unstructured":"Yang, L., Qi, L., Feng, L., Zhang, W., Shi, Y., 2023. Revisiting weak-to-strong consistency in semi-supervised semantic segmentation. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, Canada, pp. 7236-7246. Doi: 10.1109\/CVPR52729.2023.00699.","DOI":"10.1109\/CVPR52729.2023.00699"},{"issue":"4","key":"10.1016\/j.compag.2026.111728_b0165","doi-asserted-by":"crossref","first-page":"3031","DOI":"10.1109\/TPAMI.2025.3528453","article-title":"UniMatch v2: pushing the limit of semi-supervised semantic segmentation","volume":"47","author":"Yang","year":"2025","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"10.1016\/j.compag.2026.111728_b0170","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.110105","article-title":"Dynamic mutual training semi-supervised semantic segmentation algorithm with adaptive capability (AD-DMT) for choy sum stem segmentation and 3d positioning of cutting points","volume":"232","author":"Yuan","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0175","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2023.108511","article-title":"Navigation path recognition between rows of fruit trees based on semantic segmentation","volume":"216","author":"Zhang","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0180","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109424","article-title":"3D terrestrial LiDAR for obtaining phenotypic information of cigar tobacco plants","volume":"226","author":"Zhang","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111728_b0185","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109086","article-title":"A review of vision-based crop row detection method: focusing on field ground autonomous navigation operations","volume":"222","author":"Zhang","year":"2024","journal-title":"Comput. Electron. Agric."},{"issue":"3","key":"10.1016\/j.compag.2026.111728_b0190","doi-asserted-by":"crossref","first-page":"691","DOI":"10.3390\/agriculture13030691","article-title":"Design and experiment of an automatic row-oriented spraying system based on machine vision for early-stage maize crops","volume":"13","author":"Zheng","year":"2023","journal-title":"Agriculture-Basel"},{"issue":"6","key":"10.1016\/j.compag.2026.111728_b0195","doi-asserted-by":"crossref","first-page":"1119","DOI":"10.3390\/agronomy14061119","article-title":"Research on improved road visual navigation recognition method based on DeepLabV3+ in pitaya orchard","volume":"14","author":"Zhu","year":"2024","journal-title":"Agronomy-Basel"},{"issue":"2","key":"10.1016\/j.compag.2026.111728_b0200","first-page":"16","article-title":"Path recognition method of orchard ridges based on lightweight U-Net","volume":"55","author":"Hou","year":"2024","journal-title":"Transactions of the Chinese Society for Agricultural Machinery."},{"issue":"10","key":"10.1016\/j.compag.2026.111728_b0205","first-page":"275","article-title":"Interrow path navigation line detection of maize in middle and late period based on semantic segmentation","volume":"55","author":"Su","year":"2024","journal-title":"Transactions of the Chinese Society for Agricultural Machinery."}],"container-title":["Computers and Electronics in Agriculture"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926003236?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926003236?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T04:47:08Z","timestamp":1776919628000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0168169926003236"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":41,"alternative-id":["S0168169926003236"],"URL":"https:\/\/doi.org\/10.1016\/j.compag.2026.111728","relation":{},"ISSN":["0168-1699"],"issn-type":[{"value":"0168-1699","type":"print"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Robust under-canopy navigation path extraction for collaborative harvesting robots using semi-supervised UniMatch V2 segmentation enhanced by edge-contour keypoint clustering","name":"articletitle","label":"Article Title"},{"value":"Computers and Electronics in Agriculture","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.compag.2026.111728","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"111728"}}