###### Abstract  
Crop row identification and navigation line extraction are essential components for enabling autonomous operations of agricultural machinery. Aiming at the soybean-maize strip intercropping system, this study proposes a LiDAR-based algorithm for crop row detection and navigation line extraction. The proposed method consists of four primary stages: point cloud preprocessing, crop row region identification, feature point clustering, and navigation line extraction. Specifically, a combination of K-means and Euclidean clustering algorithms is employed to extract feature points representing crop rows. The central lines of the crop rows are then fitted using the least squares method, and a stable navigation path is constructed based on angle bisector principles. Field experiments were conducted under three representative scenarios: broken rows with missing plants, low occlusion, and high occlusion. The results demonstrate that the proposed method exhibits strong adaptability and robustness across various environments, achieving over 80% accuracy in navigation line extraction, with up to 90% in low-occlusion settings. The average navigation angle was controlled within 0.28\({}^{\circ}\), with the minimum reaching 0.17\({}^{\circ}\), and the average processing time remained below 75.62 ms. Moreover, lateral deviation tests confirmed the method's high precision and consistency in path tracking, validating its feasibility and practicality for application in strip intercropping systems.  
LiDAR; soybean-maize strip intercropping; crop row detection; navigation line extraction 2025  
3 June 2025  
1 July 2025  
###### Abstract  
Crop row identification and navigation line extraction are essential components for enabling autonomous operations of agricultural machinery. Aiming at the soybean-maize strip intercropping system, this study proposes a LiDAR-based algorithm for crop row detection and navigation line extraction. The proposed method consists of four primary stages: point cloud preprocessing, crop row region identification, feature point clustering, and navigation line extraction. Specifically, a combination of K-means and Euclidean clustering algorithms is employed to extract feature points representing crop rows. The central lines of the crop rows are then fitted using the least squares method, and a stable navigation path is constructed based on angle bisector principles. Field experiments were conducted under three representative scenarios: broken rows with missing plants, low occlusion, and high occlusion. The results demonstrate that the proposed method exhibits strong adaptability and robustness across various environments, achieving over 80% accuracy in navigation line extraction, with up to 90% in low-occlusion settings. The average navigation angle was controlled within 0.28\({}^{\circ}\), with the minimum reaching 0.17\({}^{\circ}\), and the average processing time remained below 75.62 ms. Moreover, lateral deviation tests confirmed the method's high precision and consistency in path tracking, validating its feasibility and practicality for application in strip intercropping systems.  
Article  
A LiDAR-Driven Approach for Crop Row Detection and Navigation Line Extraction in Soybean-Maize Intercropping Systems.