Agricultural robots and unmanned farmland management require real-time and precise parsing of crop leaves at the edge to support variable application of pesticides, seedling condition monitoring, and phenotypic analysis. However, the field environment features drastic changes in light, leaf occlusion, and interference from background weeds, which can cause semantic fragmentation and boundary artifacts in lightweight models. This paper presents ES2-LeafSeg, a lightweight framework for leaf semantic segmentation tailored for edge deployment. The method employs EfficientNetV2 as the backbone encoder and introduces the State Space Semantic Enhancement Module (S2FEM) on skip connection features, modeling long-range dependencies and suppressing local texture noise through SSM pooling in row and column directions. Meanwhile, a cross-scale decoder (CSD) and a global context transformation (GCT) are designed to achieve multi-scale semantic fusion and boundary refinement. On the three-class segmentation task of the SoyCotton dataset, ES2-LeafSeg achieved mIoU of 0.817, mDice of 0.869, Fβw of 0.925, and MAE of 0.011, outperforming multiple classic and recent baselines while maintaining 23.67 M parameters and 49.62 FPS. Ablation experiments further verified the complementary contributions of S2FEM and GCT to regional consistency and boundary quality.
Wang et al. (2026) studied this question.