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Method of navigating an agricultural vehicle, and an agricultural vehicle implementing the same

  • US 8,155,870 B2
  • Filed: 06/16/2009
  • Issued: 04/10/2012
  • Est. Priority Date: 06/20/2008
  • Status: Active Grant
First Claim
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1. A method of navigating an agricultural vehicle, comprising the steps of:

  • equipping the vehicle with a 3D imaging device for imaging surroundings of the vehicle, and with an image processing device;

    obtaining from the 3D imaging device frames imaging at least a part of the surrounding of the vehicle at different points of time while the vehicle is moving thus providing a chronological sequence of frames;

    analyzing the frames;

    establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames;

    estimating a slip angle, wherein the vehicle comprises a steering angle gauge for measuring an angle of steering wheels of the agricultural vehicle; and

    comparing a change of pose and the angle of the steering wheels of the agricultural vehicle.

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