Fuente: WIPO "tomato" A method of validating a pixel mask for a farming implement of an autonomous farming machine. A system may access a set of images corresponding to the farming implement, each image in the set of images comprising pixels of the farming implement and a surrounding environment. The system may generate a masked set of images from the set of images by applying the pixel mask to the set of images to ignore the pixels of the farming implement from the set of images. The system may determine, based on the masked set of images, the pixel mask is a valid pixel mask or an invalid pixel mask. Responsive to determining the pixel mask is a valid pixel mask, the system performs a first farming action. Responsive to determining the pixel mask is an invalid pixel mask, the system performs a second farming action different from the first farming action.