Our latest work in the Smartgrass project was recently published in the Sensors special issue Sensing Technologies for Agricultural Automation and Robotics. With an optimized model and extensive high quality images, new state of the art prediction results in grass clover mixtures was presented. Using a specially developed ATV-mounted camera, the method was applied on 29.848 in-field images to sparsely map 225 hectare for the local legume content.