Autonomous folding farm implement and method

An autonomous system for a farm implement comprising:

• a sensor system applied to the farm implement, the farm implement being previously unknown to the autonomous system;
• an imaging sensor capturing image data of the farm implement;
• a control interface to send control signals to a power platform coupled to the farm implement;
• a processing structure executing a plurality of instructions from a tangible computer-readable memory, the instructions comprise:
• capturing sensor data from the sensor system;
• estimating a pose of the farm implement from the image data;
• observing folding or unfolding the farm implement;
• continue receiving the sensor data and the image data and recording the control signals as the power platform substantively folds or unfolds the farm implement by pushing or pulling the farm implement exclusively with movement of the power platform;
• determining at least one control step to fold or unfold the farm implement;
• and
• subsequently instructing the power platform using the at least one control step to fold or unfold the farm implement.