System and method for detecting crop rows in an agricultural field
First Claim
Patent Images
1. An apparatus for creating a 3-dimensional field scene map, comprising:
- at least one camera for producing a pair of images of the field scene; and
means for creating a disparity image from the pair of images;
whereinthe disparity image comprises a 3-dimensional image encoded with x, y, and z coordinates relative to the at least one camera; and
the creating of the 3-dimensional map comprises determining at least one of a camera to ground distance and a camera tilt angle.
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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.
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Citations
28 Claims
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1. An apparatus for creating a 3-dimensional field scene map, comprising:
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at least one camera for producing a pair of images of the field scene; and means for creating a disparity image from the pair of images;
whereinthe disparity image comprises a 3-dimensional image encoded with x, y, and z coordinates relative to the at least one camera; and the creating of the 3-dimensional map comprises determining at least one of a camera to ground distance and a camera tilt angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for making 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 using one or more cameras; 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; and creating a coordinate array of 3-dimensional coordinates for the objects captured in the at least one set of images, wherein the creating comprises determining at least one of a camera to ground distance and a camera tilt angle. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for making a 3-dimensional map of a field scene, comprising the steps of:
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acquiring a plurality of sets of images of the field scene using one or more cameras; creating a disparity image based on each set of images, each disparity image including depth information for objects captured in the corresponding set of images; creating a coordinate array of 3-dimensional coordinates for the objects captured in each set of stereo images, wherein the creating comprises determining at least one of a camera to ground distance and a camera tilt angle; acquiring a geographic location origin for each set of stereo images; performing a coordinate transformation on the 3-dimensional coordinates for the objects captured in each set of images so that the coordinates relate to a common origin; and merging the transformed 3-dimensional coordinates into a global map comprising a 3-dimensional representation of the field scene. - View Dependent Claims (26, 27, 28)
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Specification