Obstacle detection using stereo vision
AssigneeDeere & Company
InventorJohn Franklin Reid
Life of this patent
Estimating the term…
Abstract
A system and method for detecting an obstacle comprises determining a vegetation height of a vegetation canopy at corresponding coordinates within a field. An object height is detected, where the object height of an object exceeds the vegetation height. A range of the object is estimated. The range of the object may be references to a vehicle location, a reference location, or absolute coordinates. Dimensions associated with the object are estimated. An obstacle avoidance zone is established for the vehicle based on the estimated range and dimensions.
Claims28
A method for detecting an obstacle, the method comprising:
- identifying an object in a field by analyzing one or more stereo images in color space;
- determining a vegetation height of a cultivated vegetation canopy at corresponding coordinates within the field;
- detecting an object height of the object to identify a screened object having an object height exceeding a vegetation height of the cultivated vegetation canopy;
- estimating a range associated with the screened object with respect to a vehicle;
- estimating dimensions associated with the screened object;
- and
- establishing an obstacle avoidance zone for the vehicle based on the estimated range and dimensions.
A system for detecting an obstacle, the system comprising:
- a row detection module for determining a vegetation height of a cultivated vegetation canopy at corresponding coordinates within a field;
- an obstacle detection module for detecting a screened object with an object height that exceeds the vegetation height of the cultivated vegetation canopy;
- an object estimator for estimating a range associated with the screened object with respect to a vehicle and estimating dimensions associated with the object via one or more stereo images;
- and
- a vehicular guidance system for establishing an obstacle avoidance zone for the vehicle based on the estimated range and dimensions.
Dependencies are inferred from the claim text.