Low, intermediate, and high vegetation coverage field images with respective groundtruth³, prediction and error. On the left, the two-class segmentation model A and on the right, the three class segmentation model B2. LC: low coverage, IC: intermediate coverage and HC: high coverage. In field images of oilseed rape sown with service plants containing buckwheat (InterBw), cropped at 0.5 × 0.5 m.