Visual Attention Mechanism Research Articles

Global Processing Deficit in Amnestic Mild Cognitive Impairment.

Visuo-perceptual and visuo-attentional disorders, such as global processing deficit and simultanagnosia, are not routinely investigated in prodromal forms of typical Alzheimer's disease, as amnestic mild cognitive impairment (MCI). This study evaluated global processing abilities through Navon's classical paradigm in individuals with amnestic MCI and investigated the related visuo-perceptual and attentional components involved in simultanagnosia. Sixteen consecutive patients with amnestic MCI (6 single-domain, 10 multiple-domain) and 16 matched controls were requested to identify global and local elements of hierarchical Navon letters, and to name large and small solid letters. While correctly identifying solid letters, patients with multiple-domain amnestic MCI were less accurate in processing the global level of hierarchical stimuli compared to controls. Single-case analyses suggested that global processing may also be impaired in single-domain amnestic MCI. In addition, patients with pathological performance in the Navon task showed perceptual and/or visual focal attention deficits. Early dysfunction of holistic processing can be detected in amnestic MCI. Visuo-perceptual and/or visual focal attention mechanisms, which have been shown to be damaged in Posterior Cortical Atrophy patients with simultanagnosia, may be impaired in individuals with amnestic MCI. Investigation and identification of global processing deficits in MCI could contribute to early diagnosis and longitudinal monitoring of the disease.

A Spatial-Channel-Temporal-Fused Attention for Spiking Neural Networks.

Spiking neural networks (SNNs) mimic brain computational strategies, and exhibit substantial capabilities in spatiotemporal information processing. As an essential factor for human perception, visual attention refers to the dynamic process for selecting salient regions in biological vision systems. Although visual attention mechanisms have achieved great success in computer vision applications, they are rarely introduced into SNNs. Inspired by experimental observations on predictive attentional remapping, we propose a new spatial-channel-temporal-fused attention (SCTFA) module that can guide SNNs to efficiently capture underlying target regions by utilizing accumulated historical spatial-channel information in the present study. Through a systematic evaluation on three event stream datasets (DVS Gesture, SL-Animals-DVS, and MNIST-DVS), we demonstrate that the SNN with the SCTFA module (SCTFA-SNN) not only significantly outperforms the baseline SNN (BL-SNN) and two other SNN models with degenerated attention modules, but also achieves competitive accuracy with the existing state-of-the-art (SOTA) methods. Additionally, our detailed analysis shows that the proposed SCTFA-SNN model has strong robustness to noise and outstanding stability when faced with incomplete data, while maintaining acceptable complexity and efficiency. Overall, these findings indicate that incorporating appropriate cognitive mechanisms of the brain may provide a promising approach to elevate the capabilities of SNNs.

Application of Visual Transformer in Low-resolution Thermal Infrared Image Recognition

Abstract Addressing the challenges of inadequate accuracy and limited robustness exhibited by current lightweight object detection networks specifically tailored for low-resolution thermal infrared face detection scenarios, this paper delves into developing an ultra-lightweight thermal infrared face detection algorithm that leverages visual attention mechanisms. To ascertain the optimal neural network complexity, a series of comparative experiments are meticulously conducted. With Yolo-FastestDet serving as the benchmark, this study endeavors to compress the backbone network, striking a delicate balance between network depth and detection speed. Additionally, to bolster the network’s capacity for profound feature extraction and precise discrimination of target edges and small objects, a Transformer-Encoder-based visual attention module is seamlessly integrated. Consequently, a lightweight face detection algorithm, enriched with attention mechanisms, is formulated. Furthermore, to mitigate the scarcity of low-resolution infrared face image data, a self-constructed visible-infrared face dataset is employed for training and evaluation purposes. The experimental outcomes reveal that the proposed algorithm attains an impressive mAP@0.5 score of 0.953 on the test dataset while satisfying the stringent real-time detection criterion of 30 frames per second (FPS) when deployed on an embedded Raspberry Pi CPU.

A two-stage strategy for brain-inspired unsupervised learning in spiking neural networks

Spiking Neural Networks (SNNs) are emerging as a promising model in the field of neuromorphic computing, offering possibilities for efficient bio-inspired computing. Unsupervised learning in SNNs plays a crucial role in exploring neural network dynamics and achieving efficient artificial intelligence systems. However, current unsupervised learning in SNNs mostly relies on single-stage learning strategies, which limits the possibility of combining diverse learning mechanisms and network structures, resulting in networks that lack flexibility and adaptability for low-power task processing. Inspired by the multi-stage and multi-strategy learning in the human brain, this paper proposes a two-stage learning strategy from coarse to fine to enhance the efficiency of unsupervised learning in SNNs. To quickly extract structural features from spike data in the first stage, we propose the Spiking-SOM algorithm, which effectively learns patterns in spike data and achieves clustering effects. Additionally, we integrate Rate encoding and Temporal encoding through a visual attention mechanism, where this hybrid encoding helps meet the need for rapid information processing in the first stage, while also aiding in detailed feature representation in the second stage. Compared to the traditional single-stage learning framework, this work maintains high accuracy in unsupervised classification while significantly reducing computational costs and speeding up training. This exploration offers a new direction for future learning frameworks in SNNs, helping to further improve the energy efficiency of the network.

Quaternion attention-based JND model for macrophotography image watermarking

With the advancement of imaging technology, macrophotography images (MPIs) have become a popular research topic. Unlike natural images, MPIs often feature sharp foregrounds and blurred backgrounds, leading to distinct perceptual characteristics in estimation. As the number of MPIs grows rapidly, concerns over image quality and security increase. Robust watermarking techniques have been introduced to address these challenges. Just Noticeable Difference (JND) has been widely used in quantization-based watermarking frameworks. However, existing JND models handle each image area with a single-level perceptual attention. Visual attention in Quaternion Discrete Wavelet Transform (QDWT), which can reflect the Multi-level perceptual attention feature. Therefore, we propose a new method called Quaternion Attention-based Just Noticeable Difference model for MPIs Watemarking (QAJnd-MW) for watermarking MPIs. This method uses visual attention mechanisms, recognizing that the HVS is more sensitive to attention regions. We generate a masking effect in the JND field. The input image undergoes QDWT to explore multi-scale features. The multi-scale feature maps, with multi-directional luminance and multi-channel color, help create local and global attention maps, which are fused to form the final attention map. Specifically, considering both attention-based masking effects, the quaternion attention-guided JND model is designed for a robust MPI watermarking framework, aiming to further improve MPI security. Extensive experiments on the MP2020 and Blur Detection datasets show that the proposed model significantly improves robustness against JPEG compression attacks, reducing the bit error rate (BER) by up to 12%. Additionally, the model performs well against other attacks, such as those in online social networks, with lower BER than current state-of-the-art techniques.

Spatial attention for human-centric visual understanding: An Information Bottleneck method

The selective visual attention mechanism in the Human Visual System (HVS) restricts the amount of information that reaches human visual awareness, allowing the brain to perceive high-fidelity natural scenes in real-time with limited computational cost. This selectivity acts as an “Information Bottleneck (IB)” that balances information compression and predictive accuracy. However, such information constraints are rarely explored in the attention mechanism for deep neural networks (DNNs). This paper introduces an IB-inspired spatial attention module for DNNs, which generates an attention map by minimizing the mutual information (MI) between the attentive content and the input while maximizing that between the attentive content and the output. We develop this IB-inspired attention mechanism based on a novel graphical model and explore various implementations of the framework. We show that our approach can yield attention maps that neatly highlight the regions of interest while suppressing the backgrounds, and are interpretable for the decision-making of the DNNs. To validate the effectiveness of the proposed IB-inspired attention mechanism, we apply it to various computer vision tasks including image classification, fine-grained recognition, cross-domain classification, semantic segmentation, and object detection. Extensive experiments demonstrate that it bootstraps standard DNN structures quantitatively and qualitatively for these tasks.

B - 31 Factor Analysis of Neuropsychological Attention Measures with Mild Traumatic Brain Injury Patients

Abstract Objective Mild traumatic brain injury (mTBI) often leads to attentional deficits, yet the neuropsychological tests traditionally used may not adequately reflect the cognitive impairments these patients experience. This study aimed to critically evaluate the construct validity and factor structure of attention-related neuropsychological tests in mTBI patients to better understand and diagnose attentional deficits. Method The research utilized a battery of neuropsychological tests used to assess attention among a sample of 269 adults with mTBI including the NAB Numbers & Letters Test, PASAT, Trail Making Test, and WAIS Digit Span, Coding, and Arithmetic subtests. Exploratory factor analysis was employed to investigate the factor structure of the test battery and to test the hypothesis concerning the dimensionality of attention constructs. Results The analysis revealed that attentional measures did not converge on a single latent factor but instead reflected four distinct factors. These factors were identified as 1) Visual Attention/Psychomotor Speed, 2) Auditory Working Memory, 3) Visuospatial Scanning/Search, and 4) Disruption. Conclusions This exploratory factor analysis unveiled a distinction between auditory and visual attention mechanisms within this population. This separation suggests that attentional processes are not monolithic but rather encompass distinct auditory and visual domains and corroborates the existing literature, including Mirsky’s (1991) model of attention, which posits multiple components of attention, albeit with a focus on differentiating processes rather than sensory modalities. The study highlights the complexity of attentional impairments in mTBI and underscores the need for a nuanced approach to the neuropsychological assessment of attention among mTBI patients.

A Novel Fusion Perception Algorithm of Tree Branch/Trunk and Apple for Harvesting Robot Based on Improved YOLOv8s

Aiming to accurately identify apple targets and achieve segmentation and the extraction of branch and trunk areas of apple trees, providing visual guidance for a picking robot to actively adjust its posture to avoid branch trunks for obstacle avoidance fruit picking, the spindle-shaped fruit trees, which are widely planted in standard modern apple orchards, were focused on, and an algorithm for apple tree fruit detection and branch segmentation for picking robots was proposed based on an improved YOLOv8s model design. Firstly, image data of spindle-shaped fruit trees in modern apple orchards were collected, and annotations of object detection and pixel-level segmentation were conducted on the data. Training set data were then augmented to improve the generalization performance of the apple detection and branch segmentation algorithm. Secondly, the original YOLOv8s network architecture’s design was improved by embedding the SE module visual attention mechanism after the C2f module of the YOLOv8s Backbone network architecture. Finally, the dynamic snake convolution module was embedded into the Neck structure of the YOLOv8s network architecture to better extract feature information of different apple targets and tree branches. The experimental results showed that the proposed improved algorithm can effectively recognize apple targets in images and segment tree branches and trunks. For apple recognition, the precision was 99.6%, the recall was 96.8%, and the mAP value was 98.3%. The mAP value for branch and trunk segmentation was 81.6%. The proposed improved YOLOv8s algorithm design was compared with the original YOLOv8s, YOLOv8n, and YOLOv5s algorithms for the recognition of apple targets and segmentation of tree branches and trunks on test set images. The experimental results showed that compared with the other three algorithms, the proposed algorithm increased the mAP for apple recognition by 1.5%, 2.3%, and 6%, respectively. The mAP for tree branch and trunk segmentation was increased by 3.7%, 15.4%, and 24.4%, respectively. The proposed detection and segmentation algorithm for apple tree fruits, branches, and trunks is of great significance for ensuring the success rate of robot harvesting, which can provide technical support for the development of an intelligent apple harvesting robot.

Design of Adaptive Target Tracking Algorithm for Robots Based on Visual Attention Mechanism

Adaptive target tracking with visual attention represents a sophisticated approach to object detection and localization in dynamic environments. With principles inspired by human visual perception, this methodology employs mechanisms of selective attention to prioritize relevant visual information for tracking moving targets. By dynamically adjusting attentional focus based on salient visual cues and target motion characteristics, adaptive target tracking enhances the efficiency and accuracy of object localization in cluttered scenes. This research presents a novel adaptive target tracking algorithm designed for robotic systems, integrating a visual attention mechanism with the Fuzzy Clustering Multi-Point Tracking utilizing the Green Channel (FC-MPT-GC) approach. The proposed FC-MPT-GC model comprises of Fuzzy Clustering for the extraction of features in the robots-based environment. The FC-MPT-GC model uses the estimation of green channels in the classification environment. With the estimation of features in the environment with Fuzzy C-means clustering green channels are deployed in the deep learning, The proposed algorithm aims to enhance the adaptability and precision of target tracking in dynamic environments. By incorporating a visual attention mechanism, the algorithm dynamically allocates attentional focus to salient regions of the visual input, optimizing the tracking process for moving targets. The FC-MPT-GC methodology further refines target localization by utilizing fuzzy clustering and multi-point tracking strategies, particularly leveraging information from the Green Channel to improve robustness in various lighting conditions. Simulation analysis demonstrated that the proposed FC-MPT-GC model tracking accuracy is achieved at 95.1% with the minimal computation time of 15.2 ms.

A real-time and lightweight driver fatigue detection model using anchor-free and visual-attention mechanisms

A real-time and lightweight driver fatigue detection model using anchor-free and visual-attention mechanisms

Cascaded Aggregation Convolution Network for Salient Grain Pests Detection.

Pest infestation poses significant threats to grain storage due to pests' behaviors of feeding, respiration, excretion, and reproduction. Efficient pest detection and control are essential to mitigate these risks. However, accurate detection of small grain pests remains challenging due to their small size, high variability, low contrast, and cluttered background. Salient pest detection focuses on the visual features that stand out, improving the accuracy of pest identification in complex environments. Drawing inspiration from the rapid pest recognition abilities of humans and birds, we propose a novel Cascaded Aggregation Convolution Network (CACNet) for pest detection and control in stored grain. Our approach aims to improve detection accuracy by employing a reverse cascade feature aggregation network that imitates the visual attention mechanism in humans when observing and focusing on objects of interest. The CACNet uses VGG16 as the backbone network and incorporates two key operations, namely feature enhancement and feature aggregation. These operations merge the high-level semantic information and low-level positional information of salient objects, enabling accurate segmentation of small-scale grain pests. We have curated the GrainPest dataset, comprising 500 images showcasing zero to five or more pests in grains. Leveraging this dataset and the MSRA-B dataset, we validated our method's efficacy, achieving a structure S-measure of 91.9%, and 90.9%, and a weighted F-measure of 76.4%, and 91.0%, respectively. Our approach significantly surpasses the traditional saliency detection methods and other state-of-the-art salient object detection models based on deep learning. This technology shows great potential for pest detection and assessing the severity of pest infestation based on pest density in grain storage facilities. It also holds promise for the prevention and control of pests in agriculture and forestry.

Omnidirectional image quality assessment with local–global vision transformers

With the rising popularity of omnidirectional images (ODIs) in virtual reality applications, the need for specialized image quality assessment (IQA) methods becomes increasingly critical. Traditional IQA approaches, designed for rectilinear images, often fail to evaluate ODIs accurately due to their 360-degree scene representation. Addressing this, we introduce the Local–Global Transformer for 360-degree Image Quality Assessment (LGT360IQ). This novel framework features dual branches tailored to mimic top-down and bottom-up visual attention mechanisms, adapted for the spherical characteristics of ODIs. The local branch processes tangent viewports from salient regions within the equirectangular projection image, extracting detailed features for granular quality assessment. In parallel, the global branch utilizes a task-dependent token sampling strategy for holistic image feature processing and quality score prediction. This integrated approach combines local and global information, offering an effective IQA method for ODIs. Our extensive evaluation across three benchmark ODI datasets, CVIQ, OIQA, and ODI, demonstrates LGT360IQ superior performance and establishes its role in advancing the field of IQA for omnidirectional images.

Multi-organ Jujube Classification Based on a Visual Attention Mechanism

Multi-organ Jujube Classification Based on a Visual Attention Mechanism

Tongue feature recognition to monitor rehabilitation: deep neural network with visual attention mechanism.

We endeavor to develop a novel deep learning architecture tailored specifically for the analysis and classification of tongue features, including color, shape, and coating. Unlike conventional methods based on architectures like VGG or ResNet, our proposed method aims to address the challenges arising from their extensive size, thereby mitigating the overfitting problem. Through this research, we aim to contribute to the advancement of techniques in tongue feature recognition, ultimately leading to more precise diagnoses and better patient rehabilitation in Traditional Chinese Medicine (TCM). In this study, we introduce TGANet (Tongue Feature Attention Network) to enhance model performance. TGANet utilizes the initial five convolutional blocks of pre-trained VGG16 as the backbone and integrates an attention mechanism into this backbone. The integration of the attention mechanism aims to mimic human cognitive attention, emphasizing model weights on pivotal regions of the image. During the learning process, the allocation of attention weights facilitates the interpretation of causal relationships in the model's decision-making. Experimental results demonstrate that TGANet outperforms baseline models, including VGG16, ResNet18, and TSC-WNet, in terms of accuracy, precision, F1 score, and AUC metrics. Additionally, TGANet provides a more intuitive and meaningful understanding of tongue feature classification models through the visualization of attention weights. In conclusion, TGANet presents an effective approach to tongue feature classification, addressing challenges associated with model size and overfitting. By leveraging the attention mechanism and pre-trained VGG16 backbone, TGANet achieves superior performance metrics and enhances the interpretability of the model's decision-making process. The visualization of attention weights contributes to a more intuitive understanding of the classification process, making TGANet a promising tool in tongue diagnosis and rehabilitation.

Improved Perception of Aggression Under (un)Related Threat of Shock.

Anxiety shifts visual attention and perceptual mechanisms, preparing oneself to detect potentially threatening information more rapidly. Despite being demonstrated for threat-related social stimuli, such as fearful expressions, it remains unexplored if these effects encompass other social cues of danger, such as aggressive gestures/actions. To this end, we recruited a total of 65 participants and asked them to identify, as quickly and accurately as possible, potentially aggressive actions depicted by an agent. By introducing and manipulating the occurrence of electric shocks, we induced safe and threatening conditions. In addition, the association between electric shocks and aggression was also manipulated. Our result showed that participants have improved sensitivity, with no changes to criterion, when detecting aggressive gestures during threat compared to safe conditions. Furthermore, drift diffusion model analysis showed that under threat participants exhibited faster evidence accumulation toward the correct perceptual decision. Lastly, the relationship between threat source and aggression appeared to not impact any of the effects described above. Overall, our results indicate that the benefits gained from states of anxiety, such as increased sensitivity toward threat and greater evidence accumulation, are transposable to social stimuli capable of signaling danger other than facial expressions.

A Bio-Inspired Visual Perception Transformer for Cross-Domain Semantic Segmentation of High-Resolution Remote Sensing Images

Pixel-level classification of very-high-resolution images is a crucial yet challenging task in remote sensing. While transformers have demonstrated effectiveness in capturing dependencies, their tendency to partition images into patches may restrict their applicability to highly detailed remote sensing images. To extract latent contextual semantic information from high-resolution remote sensing images, we proposed a gaze–saccade transformer (GSV-Trans) with visual perceptual attention. GSV-Trans incorporates a visual perceptual attention (VPA) mechanism that dynamically allocates computational resources based on the semantic complexity of the image. The VPA mechanism includes both gaze attention and eye movement attention, enabling the model to focus on the most critical parts of the image and acquire competitive semantic information. Additionally, to capture contextual semantic information across different levels in the image, we designed an inter-layer short-term visual memory module with bidirectional affinity propagation to guide attention allocation. Furthermore, we introduced a dual-branch pseudo-label module (DBPL) that imposes pixel-level and category-level semantic constraints on both gaze and saccade branches. DBPL encourages the model to extract domain-invariant features and align semantic information across different domains in the feature space. Extensive experiments on multiple pixel-level classification benchmarks confirm the effectiveness and superiority of our method over the state of the art.

BVA-Transformer: Image-text multimodal classification and dialogue model architecture based on Blip and visual attention mechanism

Multimodal tasks have become a hot research direction in recent years. The emergence of large-scale models has gradually elevated the extensive multimodal tasks, achieving remarkable achievements. However, when it comes to fusing multiple modalities for multimodal tasks, how to better integrate multimodal features is still a problem worth exploring. In tasks such as sentiment analysis targeting a wide range of social media content, the use of features derived solely from the [CLS] token may lead to insufficient information. This paper proposes BVA-Transformer model architecture for image-text multimodal classification and dialogue, which incorporates the EF-CaTrBERT method for feature fusion and introduces BLIP for the transformation of images to the textual space. This enables the fusion of images and text in the same information space, avoiding issues of information redundancy and conflict compared to traditional feature fusion methods. In addition, we proposed a Global Features Encoder (GFE) module based on visual attention in the BVA-Transformer, which can provide more global and targeted auxiliary features for the [CLS] token. This enables the model to utilize more feature information in classification tasks under this feature fusion method and dynamically select information to focus on. We also introduced the Trv structure from EVA-02 in the Decoder part of BVA-Transformer, investigating its impact on the model performance. Furthermore, we designed a three-stage training to further enhance the model’s performance. Experimental results demonstrate that BVA-Transformer achieves high-quality classification while generating dialogue sentences. Compared to existing multimodal classification models on our validation dataset, it exhibits excellent performance.

Fast Lung Image Segmentation Using Lightweight VAEL-Unet

INTRODUCTION: A lightweght lung image segmentation model was explored. It was with fast speed and low resouces consumed while the accuracy was comparable to those SOAT models. OBJECTIVES: To improve the segmentation accuracy and computational efficiency of the model in extracting lung regions from chest X-ray images, a lightweight segmentation model enhanced with a visual attention mechanism called VAEL-Unet, was proposed. METHODS: Firstly, the bneck module from the MobileNetV3 network was employed to replace the convolutional and pooling operations at different positions in the U-Net encoder, enabling the model to extract deeper-level features while reducing complexity and parameters. Secondly, an attention module was introduced during feature fusion, where the processed feature maps were sequentially fused with the corresponding positions in the decoder to obtain the segmented image. RESULTS: On ChestXray, the accuracy of VAEL-Unet improves from 97.37% in the traditional U-Net network to 97.69%, while the F1-score increases by 0.67%, 0.77%, 0.61%, and 1.03% compared to U-Net, SegNet, ResUnet and DeepLabV3+ networks. respectively. On LUNA dataset. the F1-score demonstrates improvements of 0.51%, 0.48%, 0.22% and 0.46%, respectively, while the accuracy has increased from 97.78% in the traditional U-Net model to 98.08% in the VAEL-Unet model. The training time of the VAEL-Unet is much less compared to other models. The number of parameters of VAEL-Unet is only 1.1M, significantly less than 32M of U-Net, 29M of SegNet, 48M of Res-Unet, 5.8M of DeeplabV3+ and 41M of DeepLabV3Plus_ResNet50. CONCLUSION: These results indicate that VAEL-Unet’s segmentation performance is slightly better than other referenced models while its training time and parameters are much less.

A Contour Detection Method Based on the Projective Coding Model of the Visual Cortex Information Flow

Based on the information flow partition projection characteristics of P-type and M-type ganglion cells (referred to as P cells and M cells) and the neural sparse coding mechanism, this paper proposed a new method for image contour detection. First, we considered the difference between M cells and P cells in detail sensitivity and the information transmission of different visual signals. The parallel visual pathway was constructed to simulate the pre-level characteristics of the V1 layer to obtain the primary contour response. Then, we introduced the orientation sensitivity and stimulus response difference of the visual receptive field to construct the visual information difference enhancement model. In consideration of the visual attention mechanism, we proposed an adaptive size sparse coding network model that simulates the pre-level characteristics of the V4 layer to intelligently focus the target contour features. At the same time, de-redundancy was performed to obtain the fine feature image. Finally, the hierarchical information feedback fusion was built, and the fine feature image was used to correct the primary contour response to obtain complete contour detection results. Taking the BSDS500 dataset as experimental objects, the results showed that the proposed method exhibits an effective trade-off between contour extraction and texture suppression.

Improving the maize crop row navigation line recognition method of YOLOX.

The accurate identification of maize crop row navigation lines is crucial for the navigation of intelligent weeding machinery, yet it faces significant challenges due to lighting variations and complex environments. This study proposes an optimized version of the YOLOX-Tiny single-stage detection network model for accurately identifying maize crop row navigation lines. It incorporates adaptive illumination adjustment and multi-scale prediction to enhance dense target detection. Visual attention mechanisms, including Efficient Channel Attention and Cooperative Attention modules, are introduced to better extract maize features. A Fast Spatial Pyramid Pooling module is incorporated to improve target localization accuracy. The Coordinate Intersection over Union loss function is used to further enhance detection accuracy. Experimental results demonstrate that the improved YOLOX-Tiny model achieves an average precision of 92.2 %, with a detection time of 15.6 milliseconds. This represents a 16.4 % improvement over the original model while maintaining high accuracy. The proposed model has a reduced size of 18.6 MB, representing a 7.1 % reduction. It also incorporates the least squares method for accurately fitting crop rows. The model showcases efficiency in processing large amounts of data, achieving a comprehensive fitting time of 42 milliseconds and an average angular error of 0.59°. The improved YOLOX-Tiny model offers substantial support for the navigation of intelligent weeding machinery in practical applications, contributing to increased agricultural productivity and reduced usage of chemical herbicides.