> The combination of GPS mapping (planter knows where it was during planting), known plant & row spacing... This is not robust. Humans don't use GPS for this

> The combination of GPS mapping (planter knows where it was during planting), known plant & row spacing... This is not robust. Humans don't use GPS for this purpose (and anyway, the plants are closer than GPS resolution. Looking and using the local data is the more robust approach. Trying to assume the real world is the same as your model has been the source of countless visual gags since the advent of movies.