| Kidney Beans | Large, curved beans with red, purple, or cream coloration and a pronounced hilum. | Discoloration, insect damage, cracks, broken beans, shriveled beans, stones, and foreign seeds. | High-resolution RGB cameras for color and shape; near-infrared detection may help identify some organic foreign material. | Prioritize color uniformity, broken pieces, insect holes, and foreign material. | 10–18 mm length | 1–2 |
| Pinto Beans | Medium-sized beige beans with brown or reddish mottling that becomes less visible after cooking. | Excessive darkening, mold-like stains, surface scars, splits, broken beans, and mixed varieties. | RGB color imaging with shape analysis; optional multispectral inspection for difficult stains. | Separate severe discoloration while preserving acceptable natural mottling. | 8–14 mm length | 1–2 |
| Navy Beans | Small, oval, white to pale cream beans with relatively uniform color. | Yellowing, brown spots, black beans, cracked seed coats, insect damage, stones, and plant fragments. | High-sensitivity RGB cameras for subtle color differences; shape recognition for splits and fragments. | Focus on small color deviations and contamination that contrasts with the pale product. | 7–12 mm length | 1–2 |
| Black Beans | Small to medium, glossy black beans with a light-colored hilum. | Faded or gray beans, damaged hilum, cracked shells, insect damage, green beans, and foreign material. | RGB cameras with controlled lighting; shape and reflectance analysis for surface damage. | Detect faded beans, abnormal surface reflectance, cracks, and mixed-color beans. | 8–13 mm length | 1–2 |
| Cannellini Beans | Large, elongated white beans with a smooth surface and pale cream tone. | Yellow or gray discoloration, wrinkles, splits, broken ends, stones, and dark foreign seeds. | RGB imaging for color and shape; optional near-infrared or multispectral imaging for organic contamination. | Maintain a clean, bright appearance and remove severe structural damage. | 12–20 mm length | 1–2 |
| Mung Beans | Small, round to oval green beans, sometimes mixed with yellow or pale immature seeds. | Brown or black spots, immature seeds, insect damage, broken beans, stones, and other small seeds. | High-resolution RGB cameras with small-particle handling; multispectral imaging for visually similar contaminants. | Prioritize small-size accuracy, color consistency, and removal of dark damaged beans. | 3–5 mm length | 2–3 |
| Lima Beans | Flat, broad beans with white, cream, or green coloration and a relatively large surface area. | Chips, deep cracks, wrinkling, yellowing, insect damage, mold-like discoloration, and foreign material. | RGB cameras for shape and color; multiple viewing angles are useful because of the flat geometry. | Remove severe cracks and stains while avoiding rejection of acceptable natural color variation. | 12–22 mm length | 1–2 |
| Chickpeas | Cream, beige, or pale yellow seeds with a rounded, irregular surface and a prominent beak. | Dark stains, broken or split seeds, insect damage, shriveling, green seeds, stones, and other pulses. | RGB cameras for color and shape; near-infrared inspection can support foreign-material detection. | Separate severely stained or damaged seeds while retaining acceptable surface texture. | 7–14 mm diameter | 1–2 |