Localization of individual plants based on high-elevation imagery

A system for localizing one or more individual plants of a plurality of plants, the system comprising one or more processors memory storing instructions that cause the one or more processors to:

• obtain high-elevation images that depict the plurality of plants at a resolution at which wind-triggered deformation of individual plants is perceptible between the high-elevation images;
• classify a first set of regions of the high-elevation images that depict deformable plants as variant visual features that are unusable as invariant anchor points, wherein each region of the first set includes a respective cluster or bounded area of pixels that depict deformable plants;
• classify a second set of regions of the high-elevation images that are disjoint from the first set of regions as invariant anchor points, wherein each region of the second set includes a respective cluster or bounded area of pixels;
• spatially align the high-elevation images based on one or more of the invariant anchor points that are common among at least some of the high-elevation images;
• and
• based on the spatially-aligned high-elevation images, localize one or more individual plants of the plurality of plants within one of the high-elevation images for performance of one or more agricultural tasks.

A non-transitory computer-readable medium for localizing one or more individual plants of a plurality of plants, the medium comprising instructions that, in response to execution of the instructions by a processor, cause the processor to:

• obtain high-elevation images that depict the plurality of plants at a resolution at which wind-triggered deformation of individual plants is perceptible between the high-elevation images;
• classify a first set of regions of the high-elevation images that depict deformable plants as variant visual features that are unusable as invariant anchor points, wherein each region of the first set includes a respective cluster or bounded area of pixels that depict deformable plants;
• classify a second set of regions of the high-elevation images that are disjoint from the first set of regions as invariant anchor points, wherein each region of the second set includes a respective cluster or bounded area of pixels;
• spatially align the high-elevation images based on one or more of the invariant anchor points that are common among at least some of the high-elevation images;
• and
• based on the spatially-aligned high-elevation images, localize one or more individual plants of the plurality of plants within one of the high-elevation images for performance of one or more agricultural tasks.