Applied Perception, Inc.

Todd Jochem

Mark Ollis

Parag Batavia

A system and method of identifying a position of a crop row in a field, where an image of two or more crop rows is transmitted to a vision data processor. The vision data processor defines a candidate scan line profile for a corresponding heading and pitch associated with a directional movement of a vehicle, for example, traversing the two or more crop rows. The candidate scan line profile comprises an array of vector quantities, where each vector quantity comprises an intensity value and a corresponding position datum. A preferential scan line profile in a search space about the candidate scan line profile is determined, and the candidate scan line profile is identified as a preferential scan line profile for estimating a position (e.g., peak variation) of one or more crop rows if a variation in the intensity level of the candidate scan line profile exceeds a threshold variation value. In addition, a template scan line profile may be utilized, where a candidate scan line profile is identified to be a preferential scan line profile if it is consistent with the template scan line profile.

Vision guidance system and method for identifying the position of crop rows in a field

A system and method of identifying a position of a crop row in a field, where an image of two or more crop rows is transmitted to a vision data processor. A preferential scan line profile in a search space about a candidate scan line profile is determined, and the candidate scan line profile is identified as a preferential scan line profile for estimating a position (e.g., peak variation) of one or more crop rows if a variation in the intensity level of the candidate scan line profile exceeds a threshold variation value. Alternatively, a position datum associated with a highest intensity value within the array of vector quantities can be selected as being indicative of a candidate position of a crop row. The candidate position is then identified as a preliminary row position if a variation in intensity level of the candidate scan line profile exceeds a threshold variation value.

A system and method of identifying a position of a crop row in a field, where an image of two or more crop rows is transmitted to a vision data processor. The vision data processor defines a candidate scan line profile for a corresponding heading and pitch of associated with a directional movement of a vehicle, for example, traversing the two or more crop rows. The candidate scan line profile comprises an array of vector quantities, where each vector quantity comprises an intensity value and a corresponding position datum. A preferential scan line profile in a search space about the candidate scan line profile is determined, and the candidate scan line profile is identified as a preferential scan line profile for estimating a position (e.g., peak variation) of one or more crop rows if a variation in the intensity level of the candidate scan line profile exceeds a threshold variation value.

A system and method of constructing a density map is disclosed. The density map is a cellular grid representing local terrain, wherein each cell contains a density vector representing the density of portion of the terrain corresponding to the cell. The density map can be used to classify and characterize the surrounding terrain, which is useful in making a determination of the traversability of the terrain to mobile vehicles.

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Wexford, PA, United States of America

Todd Jochem