Method and system for guiding a vehicle with vision-based adjustment
First Claim
1. A method for guiding a vehicle, the method comprising:
- determining preliminary guidance data for the vehicle based a location-determining receiver associated with the vehicle during an evaluation time window;
collecting vision data from a vision module associated with the vehicle during the evaluation time window;
determining vision guidance data from the collected vision data;
estimating vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window, the vision quality data based on a cross correlations and an r-squared value, the cross correlation being between an observed intensity profile of the vision data in a section and a reference intensity profile to determine row center positions and an r-squared value being between a regression path and the row center positions; and
adjusting the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
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Abstract
A preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a cross correlations and an r-squared value. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
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Citations
28 Claims
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1. A method for guiding a vehicle, the method comprising:
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determining preliminary guidance data for the vehicle based a location-determining receiver associated with the vehicle during an evaluation time window; collecting vision data from a vision module associated with the vehicle during the evaluation time window; determining vision guidance data from the collected vision data; estimating vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window, the vision quality data based on a cross correlations and an r-squared value, the cross correlation being between an observed intensity profile of the vision data in a section and a reference intensity profile to determine row center positions and an r-squared value being between a regression path and the row center positions; and adjusting the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for estimating a vision quality data for guidance of a vehicle, the method comprising:
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organizing a collected image of image data into crop pixels and non-crop pixels; determining an intensity profile based on pixel intensity values of the crop pixels; establishing a reference intensity profile associated with a group of crop rows or a single crop row; subdividing the collected image into multiple sections or overlapping windows; determining a cross correlation between the intensity profile and a reference intensity profile for each one of the sections; estimating a row center position associated with each one of the sections; arranging estimated row center positions into a regression path defining a representation of a position and orientation of a crop row; determining an r-squared value between the regression path and the row center positions; and determining vision quality data based on the determined cross correlations and the r-squared value for application to a vehicle controller or adjuster for steering of a vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A system for guiding a vehicle, the system comprising:
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a location-determining receiver for collecting preliminary guidance data for the vehicle during an evaluation time window; a vision module for collecting vision data during the evaluation time window and for determining vision guidance data from the collected vision data; a vision quality estimator for estimating vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window, the vision quality data based on a cross correlations and an r-squared value, the cross correlation being between an observed intensity profile of the image data in a section and a reference intensity profile to determine row center positions and an r-squared value being between the regression path and the row center positions; and an adjuster for adjusting the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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Specification