## 3 Results and Discussion
### Experimental Results Example on Plant's Identification and Localization  
Figure 15 illustrates, as an example, the process of identifying and localizing six baby lettuce seedlings. The experiment consisted of 15 iterations, during which the pots containing the six plants, positioned at random intervals from each other, remained stationary. In each iteration, the system was programmed to initiate the entire process of identification and localization (without any prior knowledge) every 10 min. Each row in Figure 15, labeled with the corresponding plant's name (plant A to F), displays the basic sequence of plant identification, as depicted in the flowcharts in Figures 10 and 11. Figure 15 column a showcases the six lettuce seedlings photographed in a single pass of the experimental procedure, encompassing all 15 iterations. The columns b and c on the same Figure 15 present the intermediate results of the morphological operations described in the _Identify Plant_ procedure, as outlined in the flowchart of the Plant Finding procedure in Figure 10. Column d of Figure 15 displays the final outcomes of each plant contour found, represented in blue, along with their respective centroid, which is denoted by a small cyan circle. Additionally, the estimated minimum enclosing circle, plotted with each center, is depicted in red. In column e of the same Figure 15, the manually traced plant contours are shown in yellow. Each figure in this column also includes the respective centroid overlaid as a small blue circle, allowing for a direct visual comparison. Table 4 summarizes the calculated mean and standard deviation of the carriage's position (in steps) for each of the six lettuce's (plant A to F) detection and localization task. All locations reported are with reference to the home position. Based on the measurements conducted, it has been determined that in order for the carriage to travel a distance of 3 m along the X-axis, a total of 50,100 steps from the stepper motor are necessary. \begin{table}
\begin{tabular}{c c c c c c c c c c c c c c} \hline \hline  & & \multicolumn{2}{c}{**Absolute**} & \multicolumn{6}{c}{**Measured Deviation along Y-Axis (mm): Red and Green Lasers**} \\ \cline{3-13}
**Target** & **Steps** & \multicolumn{2}{c}{**Distance from “Home” in X-Axis (mm)**} & \multicolumn{6}{c}{**Experiment’s Iteration**} & \multicolumn{1}{c}{**Mean**} & \multicolumn{1}{c}{**STD**} \\ \cline{3-13}  & & **X-Axis (mm)** & **1** & **2** & **3** & **4** & **5** & **6** & **7** & **8** & **9** & **10** & **0** \\ \hline
**1** & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & **0** \\
**2** & 1667 & 100.2 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & **0** \\
**3** & 5000 & 300 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & **0** & **0** \\
**4** & 6500 & 390 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & **0** & **0** \\
**5** & 11,000 & 660 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & **0** & **0** \\
**6** & 15,000 & 900 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0.5 & 0 \\
**7** & 19,000 & 1140 & 1 & 1 & 1 & 1 & 0.5 & 1 & 0.5 & 1 & 1 & 1 & **0.9** & **0.21** \\
**8** & 22,000 & 1320 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & **1** & **0** \\
**9** & 26,000 & 1560 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & **1** & **0** \\
**10** & 30,000 & 1800 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & **1** & **0** \\
**11** & 33,000 & 1980 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & 1 & **1** & **0** \\
**12** & 3 Consequently, it can be deduced that the carriage moves at a rate of 1 mm for every 16.7 stepper motor's steps. According to the information presented in Table 4, the standard deviation (repeatability) for plant A localization in metric units is determined to be 1.43 mm. In the case of locating the target plants B to F, the standard deviations for their localization are as follows: 0.62 mm, 1.94 mm, 0.62 mm, 1 mm, and 1.7 mm, respectively.