“…The main advantage of CNN is the high performance in object detection and automated feature engineering. CNN models such as Inception-v3 (Szegedy, Vanhoucke, Ioffe, Shlens, & Wojna, 2015), GoogleNet F I G U R E 1 The actuators (left) were designed as an implement of a tractor (right), employing rotating vertical tines as the weeding tool for effectively cutting, uprooting, and burying weeds [Color figure can be viewed at wileyonlinelibrary.com] (Szegedy et al, 2014), DenseNet (Huang, Liu, Van Der Maaten, & Weinberger, 2017), and customized models were proven effective in crop/weed detection and classification even with uncontrolled illumination (Dyrmann, Jørgensen, & Midtiby, 2017;Dyrmann, Karstoft, & Midtiby, 2016;Milioto, Lottes, & Stachniss, 2017;Potena, Nardi, & Pretto, 2017). CNN approaches, however, also face several challenges.…”