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US 11,606,478 B2Granted
Adaptive color transformation to aid computer vision
AssigneeRaven Industries, Inc.
InventorsYuri Sneyders, John D. Preheim, Jeffrey Allen Van Roekel
Life of this patent
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Abstract
System and techniques for adaptive color transformation to aid computer vision are described herein. Colors from an image are mapped into a multi-dimensional space to create a distribution of colors in the image. A line can be fit to the distribution. Here, the line includes an angle relative to a coordinate system of the multi-dimensional space. A transformation to colors can then be applied to the image based on the angle of the line. The transformation producing a reduced image where a color complexity of the original image is reduced.
Claims21
A system for adaptive color transformation to aid computer vision, the system comprising:
- a first sensor configured for coupling with an agricultural vehicle, the first sensor configured to generate a color image of at least one row of an agricultural field having one or more crop rows and intervening furrows;
- a second sensor configured for coupling with the agricultural vehicle, the second sensor configured to generate a disparity image corresponding to the color image, the disparity image including distance data indicative of distances between the second sensor and the agricultural field;
- a processor in communication with the first and second sensors, the processor includes:
- a mapping module configured to map colors of the color image and the distance data of the disparity image to a distribution in a multi-dimensional space, the multi-dimensional space having a first dimension corresponding to one or more constituent components of the colors and a second dimension corresponding to the distance data;
- a line fitting module to fit a line to the distribution in the multi-dimensional space;
- a filter module to generate a reduced image having a combined image dimension, the combined image dimension obtained by using an angle between the line and the first dimensions or the second dimension to map the one or more constituent components of the colors or the distance data to the combined image dimension;
- and
- a navigation controller in communication with the processor, the navigation controller configured to receive the reduced image and conduct guidance of the agricultural vehicle based on the reduced image and combined image dimension.
5 more elements
A system for adaptive image transformation to aid computer vision, the system comprising:
- one or more sensors configured for coupling with an agricultural vehicle, the one or more sensors configured to generate an image of at least one row of an agricultural field, the image having pixels, each of the pixels includes a positional element and an informational element, the agricultural field having one or more crop rows and intervening furrows;
- a processor in communication with the one or more sensors, the processor includes:
- a mapping module configured to map the informational elements of the pixels of the image to a distribution in a multi-dimensional space, the multi-dimensional space having a first dimension corresponding to a first constituent component of the informational element of the pixels and a second dimension corresponding to a second constituent component of the informational element of the pixels;
- a line fitting module to fit a line to the distribution in the multi-dimensional space;
- a filter module to generate a reduced image having a combined image dimension, the combined image dimension obtained by using an angle between the line and the first or second dimensions to map the first and second constituent components of the informational elements of pixels to the combined image dimension;
- and
- a navigation controller in communication with the processor, the navigation controller configured to receive the reduced image and conduct guidance of the agricultural vehicle based on the reduced image and combined image dimension.
4 more elements
A method for adaptive color transformation to aid computer vision, the method comprising:
- obtaining a color image of at least one row of an agricultural field having one or more crop rows or intervening furrows;
- obtaining a disparity image corresponding to the color image, the disparity image including distance data indicative of distances between a sensor that captured the disparity image and the one or more crop rows or intervening furrows;
- mapping colors of the color image and the distance data of the disparity image to a distribution in a multi-dimensional space, the multi-dimensional space having a first dimension corresponding to one or more constituent components of the colors and a second dimension corresponding to the distance data;
- fitting a line to the distribution in the multi-dimensional space;
- generating a reduced image having a combined image dimension, the combined image dimension obtained by using an angle between the line and the first dimension or the second dimension to map the one or more constituent components of the colors or the distance data to the combined image dimension;
- and
- communicating the reduced image to a navigation controller.
4 more elements
Dependencies are inferred from the claim text.