BackgroundIn maize, silks are hundreds of filaments that simultaneously emerge from the ear for collecting pollen over a period of 1–7 days, which largely determines grain number especially under water deficit. Silk growth is a major trait for drought tolerance in maize, but its phenotyping is difficult at throughputs needed for genetic analyses.ResultsWe have developed a reproducible pipeline that follows ear and silk growths every day for hundreds of plants, based on an ear detection algorithm that drives a robotized camera for obtaining detailed images of ears and silks. We first select, among 12 whole-plant side views, those best suited for detecting ear position. Images are segmented, the stem pixels are labelled and the ear position is identified based on changes in width along the stem. A mobile camera is then automatically positioned in real time at 30 cm from the ear, for a detailed picture in which silks are identified based on texture and colour. This allows analysis of the time course of ear and silk growths of thousands of plants. The pipeline was tested on a panel of 60 maize hybrids in the PHENOARCH phenotyping platform. Over 360 plants, ear position was correctly estimated in 86% of cases, before it could be visually assessed. Silk growth rate, estimated on all plants, decreased with time consistent with literature. The pipeline allowed clear identification of the effects of genotypes and water deficit on the rate and duration of silk growth.ConclusionsThe pipeline presented here, which combines computer vision, machine learning and robotics, provides a powerful tool for large-scale genetic analyses of the control of reproductive growth to changes in environmental conditions in a non-invasive and automatized way. It is available as Open Source software in the OpenAlea platform. Electronic supplementary materialThe online version of this article (10.1186/s13007-017-0246-7) contains supplementary material, which is available to authorized users.

Breeders select for yield, thereby indirectly selecting for traits that contribute to it. We tested if breeding has affected a range of traits involved in plant architecture and light interception, via the analysis of a panel of 60 maize hybrids released from 1950 to 2015. This was based on novel traits calculated from reconstructions derived from a phenotyping platform. The contribution of these traits to light interception was assessed in virtual field canopies composed of 3D plant reconstructions, with a model tested in a real field. Two categories of traits had different contributions to genetic progress. (a) The vertical distribution of leaf area had a high heritability and showed a marked trend over generations of selection. Leaf area tended to be located at lower positions in the canopy, thereby improving light penetration and distribution in the canopy. This potentially increased the carbon availability to ears, via the amount of light absorbed by the intermediate canopy layer. (b) Neither the horizontal distribution of leaves in the relation to plant rows nor the response of light interception to plant density showed appreciable trends with generations. Hence, among many architectural traits, the vertical distribution of leaf area was the main indirect target of selection.