System and method for detecting and analyzing features in an agricultural field
First Claim
1. An apparatus for creating and analyzing a 3-dimensional field scene map, comprising:
- at least one camera for producing a pair of images of a field scene; and
means for creating a disparity image from the pair of images and analyzing features within the disparity image;
wherein the disparity image comprises a 3-dimensional image encoded with coordinates relative to the at least one camera.
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Accused Products
Abstract
A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity images based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene. The disparity images can be used to analyze a variety of agricultural features.
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Citations
37 Claims
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1. An apparatus for creating and analyzing a 3-dimensional field scene map, comprising:
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at least one camera for producing a pair of images of a field scene; and
means for creating a disparity image from the pair of images and analyzing features within the disparity image;
wherein the disparity image comprises a 3-dimensional image encoded with coordinates relative to the at least one camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 26)
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16. A method for making and analyzing a 3-dimensional map of a field scene, the method comprising the steps of:
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acquiring at least one set of images of the field scene;
creating a disparity image based on the at least one set of images, the disparity image including depth information for objects captured in the at least one set of images;
creating a coordinate array of 3-dimensional coordinates for the objects captured in the at least one set of images; and
analyzing at least feature captured in the at least one set of images. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 28)
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29. A system for creating and analyzing a 3-dimensional agricultural field scene map, comprising:
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a stereo camera for producing a pair of stereo images of an agricultural field scene;
means for creating a disparity image from the pair of stereo images and analyzing features in the disparity image;
the disparity image including a three-dimensional image encoded with x, y and z coordinates relative to the stereo camera. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37)
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Specification