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The existing datasets lack the diversity required to train the model so that it performs equally well in real fields  under varying environmental conditions. To address this limitation, we propose to collect a small number of in-field data and use the GAN to generate synthetic data for training the deep learning network. To demonstrate the proposed method, a maize dataset 'IIITDMJ_Maize'  was collected using a drone camera under different weather conditions, including both sunny and cloudy days. The recorded video was processed to sample image frames that were later resized to 224 x 224.

Data diversity and volume are crucial to the success of training deep learning models, while in the medical imaging field, the difficulty and cost of data collection and annotation are especially huge. Specifically in robotic surgery, data scarcity and imbalance have heavily affected the model accuracy and limited the design and deployment of deep learning-based surgical applications such as surgical instrument segmentation.