Soil sensing target selection

A system comprising one or more processors and memory storing computer program instructions that, in response to execution of the computer program instructions by the one or more processors and while a vehicle comprising the one or more processors and computer program instructions travels through an agricultural field, cause the one or more processors to:

• perform object recognition processing on one or more images captured by a vision sensor carried by the vehicle as the vehicle travels through the agricultural field;
• based on the object recognition processing, identify one or more plants depicted in the one or more images;
• determine one or more locations of the one or more identified plants relative to the vehicle;
• select one or more soil sensing targets on a ground of the agricultural field at one or more selected distances from the one or more locations of the one or more identified plants relative to the vehicle, wherein each of the one or more soil sensing targets corresponds to a position in the field to sense the one or more sensing targets;
• and
• responsive to the vehicle being positioned near a location of an identified plant, operate one or more manipulators carried by the vehicle to perform soil sensing of a soil sensing target by positioning the one or more manipulators of the vehicle at the position corresponding to the soil sensing target.

A non-transitory computer-readable medium comprising computer program instructions that, in response to execution of the computer program instructions by one or more processors and while a vehicle comprising the one or more processors and computer program instructions travels through an agricultural field, cause the processor to:

• perform object recognition processing on one or more images captured by a vision sensor carried by the vehicle as the vehicle travels through the agricultural field;
• based on the object recognition processing, identify one or more plants depicted in the one or more images;
• determine one or more locations of the one or more identified plants relative to the vehicle;
• select one or more soil sensing targets on a ground of the agricultural field at one or more selected distances from the one or more locations of the one or more identified plants relative to the vehicle, wherein each of the one or more soil sensing targets corresponds to a position in the field to sense the one or more sensing targets;
• and
• responsive to the vehicle being positioned near a location of an identified plant, operate one or more manipulators carried by the vehicle to perform soil sensing of a soil sensing target by positioning the one or more manipulators of the vehicle at the position corresponding to the soil sensing target.