ROW GUIDANCE PARAMETERIZATION WITH HOUGH TRANSFORM
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Abstract
Systems and techniques for row guidance parameterization with Hough transform are described herein. An electronic representation of a field (ERF) can be received. The ERF can include a set of feature sets including one of a set of crop row features or a set of furrow features. A first parameter space can be produced by applying a slope-intercept Hough transform (SLIHT) to members of a feature set. Peaks in the first parameter space can be identified. A second parameter space can be produced by application of the SLIHT to the peaks. A vanishing point can be calculated based on a vanishing point peak in the second parameter space. A track-angle error can be calculated from the vanishing point.
11 Citations
20 Claims
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1. (canceled)
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2. A non-transitory machine-readable medium including instructions that, when executed by a machine, cause the machine to perform operations comprising:
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receiving an image with a set of features; detecting a plurality of lines corresponding to the set of features; calculating a vanishing point from the plurality of lines; projecting a projected line from a point on the image representing a vehicle to the vanishing point; calculating an angle error between the projected line and a vehicle direction line from the point on the image, wherein the vehicle direction line corresponds to a heading of the vehicle; and providing the angle error to a steering module of a vehicle to which the image capture device is mounted. - View Dependent Claims (3, 4, 5, 6, 7)
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8. A method comprising:
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receiving, by a scene module, an image with a set of features; detecting, by a transform module, a plurality of lines corresponding to the set of features; calculating a vanishing point from the plurality of lines; creating a projected line from a point on from a point on the image representing a vehicle to the vanishing point calculating, by a track-angle error module an angle error between the projected line and a vehicle direction line from the point on the image, wherein the vehicle direction line corresponds to a heading of the vehicle; and providing the angle error to a steering module of a vehicle to which the image capture device is mounted. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A system comprising:
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a scene module to receive an image with a set of features; a transform module to; detect a plurality of lines corresponding to the set of features; and calculate a vanishing point from the plurality of lines; and a track-angle error module to; create a projected line from a point on the image representing a vehicle to the vanishing point calculate an angle error between the projected line and a vehicle direction line from the point on the image, wherein the vehicle direction line corresponds to a heading of the vehicle; and provide the angle error to a steering module of a vehicle to which the image capture device is mounted. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification