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US 2026/0144188 A1Published application
Camera-to-vehicle calibration and control system using an inertial measurement unit and vehicle motion
AssigneeDeere & Company
InventorsKellen E. O'CONNOR, Bradley S. BAUER
Life of this patent
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Abstract
An inertial measurement unit (IMU) is fixed in a known transformation relative to a vision system sensor. The IMU in vision system sensor are mounted to an agricultural machine. The agricultural machine is controlled to move and the orientation of the vision system sensor, relative to a reference point on the agricultural machine, is generated based upon an IMU signal generated by the IMU during the motion. The orientation is then used to control the agricultural machine.
Claims20
A computer implemented method, comprising:
- controlling an agricultural machine to achieve movement of a vision system sensor that is in a known, fixed orientation relative to an inertial measurement unit (IMU);
- detecting an output signal from the IMU;
- generating a calibration value indicative of an orientation of the vision system sensor relative to a reference point in a coordinate system corresponding to the agricultural machine based on the output signal from the IMU;
- and
- generating a control signal based on the calibration value.
2 more elements
An agricultural system, comprising:
- a mobile agricultural machine having a machine frame;
- a vision system sensor mounted to the mobile agricultural machine;
- an inertial measurement unit (IMU) mounted in a fixed, known orientation relative to the vision system sensor;
- a movement control processor configured to generate a movement signal indicative of a commanded movement of the vision system sensor;
- an IMU signal processor configured to detect an output signal from the movement control processor;
- a vision sensor calibration system configured to generate an orientation output indicative of an orientation of the vision system sensor relative to a coordinate system corresponding to the agricultural machine based on the output signal from the IMU;
- and
- a control signal generator configured to generate a control signal based on the orientation output.
5 more elements
A computing system, comprising:
- a movement control processor configured to generate a movement signal indicative of a commanded movement of a vision system sensor and an inertial measurement unit (IMU) mounted to an agricultural machine, the IMU being mounted in a fixed, known orientation relative to the vision system sensor;
- an IMU signal processor configured to detect an output signal from the IMU during the movement of the vision system sensor;
- and
- a vision sensor calibration system configured to generate an orientation output indicative of an orientation of the vision system sensor relative to a coordinate system corresponding to the agricultural machine based on the output signal from the IMU.
1 more element
Dependencies are inferred from the claim text.