TM-WSNet: A precise segmentation method for individual rubber trees based on UAV LiDAR point cloud

Rubber products have become an important strategic resource in the global economy. However, individual rubber tree segmentation in plantation environments remains challenging due to canopy background interference and significant morphological variations among trees. To address these issues, we propose a high-precision segmentation network,TM-WSNet (Spatial Geometry Enhanced Hybrid Feature Extraction Module–Wavelet Grid Feature Fusion Encoder Segmentation Network). First, we introduce SGTramba, a hybrid feature extraction module combining Grouped Transformer and Mamba architectures, designed to reduce confusion between tree crown boundaries and surrounding vegetation or background elements. Second, we propose the WGMS encoder, which enhances structural feature recognition by applying wavelet-based spatial grid downsampling and multiscale feature fusion, effectively handling variations in canopy shape and tree height. Third, a scale optimization algorithm (SCPO) is developed to adaptively search for the optimal learning rate, addressing uneven learning across different resolution scales. We evaluate TM-WSNet on a self-constructed dataset (RubberTree) and two public datasets (ShapeNetPart and ForestSemantic), where it consistently achieves high segmentation accuracy and robustness. In practical field tests, our method accurately predicts key rubber tree parameters—height, crown width, and diameter at breast height with coefficients of determination (R²) of 1.00, 0.99, and 0.89, respectively. These results demonstrate TM-WSNet's strong potential for supporting precision rubber yield estimation and health monitoring in complex plantation environments.