Figure 7.

The qualitative demonstration of the instance segmentation by PSegNet. (a) Instance segmentation results of four different tobacco individuals, respectively. (b) Instance segmentation results of four different tomato individuals, respectively. (c) Instance segmentation results of four different sorghum individuals, respectively. Each segmented crop point cloud from PSegNet is compared with its corresponding ground truth (Ins.GT). Note that the different rendered colors in this figure are just for better visual separation of different instances, and it has no connection with the instance labels. Therefore, despite successful segmentation, the same leaf instance in the ground truth and the network result may be rendered with two different colors. Some of the areas are enlarged to give more details.