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US 10,866,109 B2Granted
Three-dimensional terrain mapping
AssigneeAgjunction LLC
InventorsTommy Ertbolle Madsen, Tri M. Dang, Joshua M. Gattis, Andreas F. Ramm, Eran D. B. Medagoda, Steven J. Dumble, Bilal Arain
Life of this patent
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Abstract
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
Claims20
A terrain mapping system for a vehicle, the terrain mapping system comprising:
- a processor;
- one or more sensors on the vehicle, the one or more sensors coupled to the processor and arranged to collect three-dimensional terrain data;
- a digital camera on the vehicle, the digital camera coupled to the processor and arranged to capture terrain image data;
- a steering control system coupled to the processor;
- and
- memory coupled to the processor and storing instructions that, when executed by the processor, cause the terrain mapping system to perform operations comprising:
- determining two or more positions of the vehicle in a field at two or more times, respectively, based on location data from a positioning system associated with the vehicle;
- identifying a first three-dimensional terrain map associated with a first position of the two or more positions;
- determining a first path for the vehicle based on the first three-dimensional terrain map, and transmitting first control data based on the first path to the steering control system;
- identifying a second three-dimensional terrain map associated with a second position of the two or more positions and further based on information about terrain in front of the vehicle, captured by the one or more sensors and the digital camera, as the vehicle is driven and steered along the first path;
- wherein the second three-dimension map is based on data received from the one or more sensors, data received from the digital camera, and the location data from the positioning system, and includes at least:
- a ground surface topography for a section of terrain;
- and
- a topography of vegetation on the section of terrain;
- determining a second different path for the vehicle based on the ground surface topography of the section of terrain and the topography of the vegetation of the section of terrain, and transmitting second control data based on the second path to the steering control system;
- and
- generating a two-dimensional representation of the second path based on the second three-dimensional terrain map.
14 more elements
An apparatus including a tangible, non-transitory computer-readable medium storing instructions that, when executed by a terrain mapping system, cause the terrain mapping system to perform operations comprising:
- determining two or more positions of a vehicle in a section of terrain at two or more times, respectively, based on location data from a positioning system associated with the vehicle;
- identifying a first three-dimensional terrain map associated with a first position of the two or more positions;
- determining a first path for the vehicle based on the first three-dimensional terrain map;
- identifying a second three-dimensional terrain map associated with a second position of the two or more positions and further based on information about terrain in front of the vehicle, captured by one or more sensors on the vehicle and a digital camera on the vehicle, as the vehicle is driven and steering along the first path, wherein the second three-dimensional map is further based on data received from the positioning system, and includes at least:
- a ground surface topography for the section of terrain;
- and
- a topography of vegetation on the section of terrain;
- determining a second different path for the vehicle based on the ground surface topography of the section of terrain and the topography of the vegetation of the section of terrain;
- and
- generating a two-dimensional representation of the second path based on the second three-dimensional terrain map.
7 more elements
A method comprising:
- determining two or more positions of a vehicle in a section of terrain at two or more times, respectively, based on location data from a positioning system associated with the vehicle;
- identifying a first three-dimensional terrain map associated with a first position of the two or more positions;
- determining a first path for the vehicle based on the first three-dimensional terrain map;
- identifying a second three-dimensional terrain map associated with a second position of the two or more positions and further based on information about terrain in front of the vehicle, captured by one or more sensors on the vehicle and a digital camera on the vehicle, as the vehicle is driven and steering along the first path, wherein the second three-dimensional map is further based on data received from the positioning system, and includes at least:
- a ground surface topography for a section of terrain;
- and
- a topography of vegetation on the section of terrain;
- determining a second different path for the vehicle based on the ground surface topography of the section of terrain and the topography of the vegetation of the section of terrain;
- and
- displaying information about the second path on an electronic display.
7 more elements
Dependencies are inferred from the claim text.