Method of navigating an agricultural vehicle, and an agricultural vehicle implementing the same
First Claim
Patent Images
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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Abstract
A method of navigating an agricultural vehicle, which is equipped with a 3D imaging device for imaging surroundings of the vehicle, and an image processing device, includes obtaining from the 3D imaging device frames imaging at least a part of the surroundings of the vehicle at different points of time while the vehicle is moving thus providing a chronological sequence of frames, analysing the frames, and establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames.
18 Citations
19 Claims
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1. A method of navigating an agricultural vehicle, comprising the steps of:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification