A method for determining soil clods within a field, the method including receiving, with a computing system , one or more images depicting an imaged portion of an agricultural field, the imaged portion of the field being at least partially represented by a plurality of pixels within the one or more images, the method being characterized by : classifying, with the computing system , a portion of the plurality of pixels that are associated with soil within the imaged portion of the field as soil pixels, each soil pixel being associated with a respective pixel height, wherein the pixel height corresponds to a relative height of the soil within the field obtained by extracting three-dimensional information from the one or more images; identifying, with the computing system , a local maximum as a location of a candidate soil clod based on the pixel heights of the soil pixels; generating, with the computing system , a first ray extending from the local maximum in a first direction until opposing endpoints are determined based on a detected edge condition; generating, with the computing system , a second ray from the local maximum in a second direction that is perpendicular to the first ray until opposing endpoints are determined based on a detected edge condition; and determining, with the computing system , whether a soil clod is present within the imaged portion of the field based at least in part on the first ray and the second ray, wherein the determining whether the soil clod is present within the imaged portion of the field is based on a soil clod ratio of a length of the first ray to a length of the second ray and whether the soil clod ratio exceeds a soil clod ratio threshold, or based on one or more pixel heights along the first ray or the second ray of the candidate soil clod. classifying, with the computing system , a portion of the plurality of pixels that are associated with soil within the imaged portion of the field as soil pixels, each soil pixel being associated with a respective pixel height, wherein the pixel height corresponds to a relative height of the soil within the field obtained by extracting three-dimensional information from the one or more images; identifying, with the computing system , a local maximum as a location of a candidate soil clod based on the pixel heights of the soil pixels; generating, with the computing system , a first ray extending from the local maximum in a first direction until opposing endpoints are determined based on a detected edge condition; generating, with the computing system , a second ray from the local maximum in a second direction that is perpendicular to the first ray until opposing endpoints are determined based on a detected edge condition; and determining, with the computing system , whether a soil clod is present within the imaged portion of the field based at least in part on the first ray and the second ray, wherein the determining whether the soil clod is present within the imaged portion of the field is based on a soil clod ratio of a length of the first ray to a length of the second ray and whether the soil clod ratio exceeds a soil clod ratio threshold, or based on one or more pixel heights along the first ray or the second ray of the candidate soil clod. <EOS>