Color angle scanning in crop row detection

A method for adaptive color transformation to aid computer vision, the method comprising:

• obtaining a color image of an agricultural field having one or more crop rows;
• mapping colors of the color image into a multi-dimensional space to generate a distribution of colors, a dimension of the multi-dimensional space corresponding to a color characteristic;
• generating an array of condensed representations of the distribution of colors, wherein a condensed representation of the array is generated by rotating the distribution of colors by a color angle about an axis perpendicular to the multi-dimensional space;
• selecting a high energy condensed representation of the array having an energy value greater than energy values of other condensed representations in the array, wherein the energy values are computed by computing a signal-to-noise ratio (SNR) for each condensed representation in the array;
• generating a reduced image of an agricultural field by transforming colors in the color image based on the color angle used to generate the high energy condensed representation;
• and
• outputting the reduced image of the agricultural field to display circuitry of an agricultural vehicle.

A non-transitory machine-readable medium including instructions for adaptive color transformation to aid computer vision, the instructions, when executed by controller circuitry, cause the controller circuitry to perform operations comprising:

• obtaining a color image;
• mapping colors of the color image into a multi-dimensional space to generate a distribution of colors, a dimension of the multi-dimensional space corresponding to a color characteristic;
• generating an array of condensed representations of the distribution of colors, wherein a condensed representation of the array is generated by rotating the distribution of colors by a respective color angle about an axis perpendicular to the multi-dimensional space;
• selecting a high energy condensed representation of the array having an energy value greater than energy values of other condensed representations in the array, and selecting a color angle associated with the high energy condensed representation, wherein the energy values are computed by computing a signal-to-noise ratio (SNR) for each condensed representation in the array;
• generating a reduced image of an agricultural field by transforming colors in the color image based on the color angle selected;
• and
• outputting the reduced image of the agricultural field to display circuitry of an agricultural vehicle.