A method for in-situ precision calibration of a precision agricultural system during operation of the precision agricultural system within a field to accommodate for a treatment delay, the method comprising: capturing a first image of a first field region with a first camera of the precision agricultural system ; locating a target treatment boundary location in the first field region based on the first image , the target treatment boundary location located between a first treatment region where a first treatment is assigned and a second treatment region where a second treatment is assigned; determining, based on a velocity of the precision agricultural system and a target distance between an instantaneous treatment mechanism location and the target treatment boundary location and/or determining, based on a height of the first camera from the ground, a transition time for a treatment mechanism to switch from the first treatment to the second treatment at the target boundary location between the first treatment region and the second treatment region; controlling a treatment mechanism of the precision agricultural system to apply the first treatment to a target in the first treatment region; subsequent to applying the first treatment, capturing a second image of a second field region with a second camera of the precision agriculture system after the transition time, wherein both the first and second image comprise a reference feature ; determining a difference in position between an actual treatment boundary location and the target treatment boundary location by comparing both the actual treatment boundary location and the target treatment boundary location to the reference feature ; calculating a calibration factor based on the difference between the actual treatment boundary location and the target treatment boundary location ; and calibrating the treatment mechanism to accommodate for the treatment delay using the calibration factor. capturing a first image of a first field region with a first camera of the precision agricultural system ; locating a target treatment boundary location in the first field region based on the first image , the target treatment boundary location located between a first treatment region where a first treatment is assigned and a second treatment region where a second treatment is assigned; determining, based on a velocity of the precision agricultural system and a target distance between an instantaneous treatment mechanism location and the target treatment boundary location and/or determining, based on a height of the first camera from the ground, a transition time for a treatment mechanism to switch from the first treatment to the second treatment at the target boundary location between the first treatment region and the second treatment region; controlling a treatment mechanism of the precision agricultural system to apply the first treatment to a target in the first treatment region; subsequent to applying the first treatment, capturing a second image of a second field region with a second camera of the precision agriculture system after the transition time, wherein both the first and second image comprise a reference feature ; determining a difference in position between an actual treatment boundary location and the target treatment boundary location by comparing both the actual treatment boundary location and the target treatment boundary location to the reference feature ; calculating a calibration factor based on the difference between the actual treatment boundary location and the target treatment boundary location ; and calibrating the treatment mechanism to accommodate for the treatment delay using the calibration factor. <EOS>