Taxonomic hierarchical loss function for enhanced crop and weed phenotyping in multi-task semantic segmentation by Artzai Picon, Daniel Mugica, Itziar Eguskiza, Arantza Bereciartua-Perez, Javier Romero, Carlos Javier Jimenez, Christian Klukas, Laura Gomez-Zamanillo, Till Eggers, Ramon Navarra-Mestre

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