Plant identification in the presence of airborne particulates

A farming machine comprising:

• a detection mechanism configured to capture images of plants in a field as the farming machine moves through the field;
• a treatment mechanism configured to treatment plants in the field, the treatment mechanism operable between one or more treatment modes, the one or more treatment modes comprising:
• a first treatment mode configured to actuate one or more treatment elements of the treatment mechanism to apply local treatments to individual plants in a field;
• and
• a second treatment mode configured to actuate one or more treatment elements of the treatment mechanism to apply broadcast treatments plants in the field;
• a control system comprising one or more processors;
• and
• a non-transitory computer-readable storage medium comprising computer program instructions for identifying and treating plants, the computer program instructions, when executed by the one or more processors, causing the control system to:
• treat a first plant in the field using the treatment mechanism operating in the first treatment mode that applies local treatments;
• access, from the detection mechanism, an image comprising a plurality of pixels, the plurality of pixels comprising a first set of pixels representing airborne particulates in the field, and a second set of pixels representing a second plant in the field;
• identify the second plant based on the second set of pixels and a particulate level based on the first set of pixels;
• and
• responsive to the particulate level being above a particulate threshold, treat the second plant using the treatment mechanism operating in the second treatment mode that applies broadcast treatments.

A non-transitory computer-readable storage medium comprising computer program instructions that, when executed by one or more processors, cause the one or more processors to:

• treat a first plant in a field using a treatment mechanism of a farming machine operating in a first treatment mode, the first treatment mode configured to actuate one or more treatment elements to apply local treatments to individual plants in the field as the farming machine moves through the field;
• access, from a detection mechanism of the farming machine, an image comprising a plurality of pixels, the plurality of pixels comprising a first set of pixels representing airborne particulates in the field, and a second set of pixels representing a second plant in the field;
• identify the second plant based on the second set of pixels and a particulate level based on the first set of pixels;
• and
• responsive to the particulate level being above a particulate threshold, treat the second plant with the treatment mechanism of the farming machine in a second treatment mode, the second treatment mode configured to actuate one or more treatment elements to apply broadcast treatments to plants in the field as the farming machine moves through the field.