Agricultural work machine for avoiding anomalies

An agricultural work machine, comprising:

• an optical sensor configured to generate one or more images;
• an image processing system in communication with the optical sensor and configured to:
• store the one or more images generated by the optical sensor;
• preprocess the one or more images by performing intensity standardization by:
• determining a pixel-specific intensity correction factor for each pixel using at least one reference image;
• and correcting intensity of each pixel of the one or more images with the pixel-specific intensity correction factor;
• segment the preprocessed one or more images into segments;
• classify the segments in order to identify one or more anomalies, wherein the one or more anomalies comprise one or more obstacles or one or more irregularities in a crop;
• and
• generate a further processable image data set;
• a control unit configured to:
• receive the further processable image data set;
• and
• control, based on the further processable image data set, at least a part of the agricultural work machine in order to perform at least one of:
• avoid the identified one or more anomalies;
• to drive in a track;
• or to stop the agricultural work machine.

An agricultural work machine, comprising:

• an optical sensor configured to generate one or more images;
• an image processing system in communication with the optical sensor and configured to:
• store the one or more images generated by the optical sensor;
• preprocess the one or more images by performing color standardization by:
• determining an intensity correction value for each color channel of the one or more images;
• and correcting intensities of pixels of each color channel in a uniform manner by the intensity correction value;
• segment the preprocessed one or more images into segments;
• classify the segments in order to identify one or more anomalies, wherein the one or more anomalies comprise one or more obstacles or one or more irregularities in a crop;
• and
• generate a further processable image data set;
• a control unit configured to:
• receive the further processable image data set;
• and
• control, based on the further processable image data set, at least a part of the agricultural work machine in order to perform at least one of:
• avoid the identified one or more anomalies;
• to drive in a track;
• or to stop the agricultural work machine.

An agricultural work machine comprising:

• an optical sensor configured to generate one or more images;
• an image processing system in communication with the optical sensor and configured to:
• store the one or more images generated by the optical sensor;
• preprocess the one or more images by performing at least one of an intensity standardization, a color standardization, or a selection of an evaluation range in the one or more images;
• segment the preprocessed one or more images into segments with pixels of equal or similar color or intensity;
• classify the segments using a support vector machine in order to identify one or more anomalies, wherein the support vector machine comprises a mathematical model for classifying the segments in order to identify classified images with the one or more anomalies, wherein the one or more anomalies comprise one or more obstacles or one or more irregularities in a crop;
• and
• generate a further processable image data set based on the classified images;
• a control unit configured to:
• receive the further processable image data set;
• and
• control, based on the further processable image data set, at least a part of the agricultural work machine in order to perform at least one of:
• avoid the identified one or more anomalies;
• to drive in a track;
• or to stop the agricultural work machine.