Joint depth-segmentation learning with segment priors for non-contact seedling height and stem thickness estimation

Abstract

To achieve precise and rapid computation of seedling height and stem diameter — key phenotypic traits for monitoring seedling growth and selecting superior varieties — this study proposes a SAM-Integrated Adaptive Fusion Depth Network (SAFD-Net). SAFD-Net integrates segmentation masks generated by Segment Anything Model (SAM) with an Adaptive Prior Extraction (APE) module to produce priors focused on individual seedling characteristics, and it fuses these priors with deep features through an Adaptive Attention Fusion (AAF) module. A Local Depth Generation (LDG) module refines depth details to improve estimation accuracy, and an Adaptive Multi-scale Fusion (AMF) module merges LDG outputs at different scales to produce high-precision depth maps. From these maps, seedling region depth, pixel height, and pixel stem diameter are extracted to compute actual seedling height and stem diameter. Comparisons with various depth estimation networks demonstrate that SAFD-Net outperforms existing models in both depth estimation and seedling measurement. Experimental evaluations on seedlings from three crops with distinct phenotypic characteristics further show that the method maintains high accuracy under varying shooting distances, lighting conditions, multiple targets, and tilt angles, offering a novel approach for phenotypic monitoring during seedling cultivation. Code is released at https://github.com/Songlei7664/SAFD-Net.