Fuente: WIPO "tomato" A method and system for determining a variable rate treatment for a farming machine to autonomously apply to identified plants in a field is disclosed. The system applies a canopy recognition model to images captured for each region in the field. The model identifies each plant in the region and the plant's canopy, and then determines canopy characteristics based on the pixels of the image representing the plants in the plant canopy. Control signals for a variable rate treatment are determined based on these canopy characteristics. The treatment mechanism of the farming machine is then actuated using these control signals to apply the determined variable rate treatment to the plant.