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1. 发明授权

US08855405B2 System and method for detecting and analyzing features in an agricultural field for vehicle guidance 有权
标题翻译：用于检测和分析农业领域特征的系统和方法，用于车辆引导
公开(公告)号：US08855405B2
公开(公告)日：2014-10-07
申请号：US10817906
申请日：2004-04-06
申请人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G01C23/00 , G06K9/00664 , G06K9/209 , G06T7/593 , G06T2207/10012 , G06T2207/30128
摘要： A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity image based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene. The disparity images can be used to analyze a variety of agricultural features.
摘要翻译：公开了一种用于创建三维农业场景地图的系统和方法，包括使用立体相机产生一对图像并基于该对图像创建视差图像，视差图像是立体图像的三维表示。可以从视差图像产生坐标阵列，坐标阵列可用于渲染农田场景的三维局部地图。全球地图也可以通过使用与各种局部地图相关联的地理位置信息来将多个局部地图映射融合成场景场景的三维全局表示。差异图像可用于分析各种农业特征。

2. 发明授权

US07587081B2 Method for processing stereo vision data using image density 有权
标题翻译：使用图像密度处理立体视觉数据的方法
公开(公告)号：US07587081B2
公开(公告)日：2009-09-08
申请号：US11343142
申请日：2006-01-30
申请人： Francisco Rovira-Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira-Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T7/70
摘要： An image collection system collects stereo image data comprising left image data and right image data of a particular scene. An estimator estimates a reference three dimensional image density rating for corresponding reference volumetric cell within the particular scene at a reference range from an imaging unit. An image density compensator compensates for the change in image density rating between the reference volumetric cell and an evaluated volumetric cell by using a compensated three dimensional image density rating based on a range or relative displacement between the reference volumetric cell and the evaluated volumetric cell. An obstacle detector identifies a presence or absence of an obstacle in a particular compensated volumetric cell in the particular scene if the particular compensated volumetric cell meets or exceeds a minimum three dimensional image density rating
摘要翻译：图像采集系统收集包括特定场景的左图像数据和右图像数据的立体图像数据。估计器在来自成像单元的参考范围处估计在特定场景内的相应参考体积细胞的参考三维图像浓度等级。图像浓度补偿器通过使用基于参考体积细胞和评估的体积细胞之间的范围或相对位移的补偿的三维图像密度等级来补偿参考体积细胞和评估的体积细胞之间的图像浓度等级的变化。如果特定的补偿容积单元满足或超过最小三维图像密度等级，则障碍物检测器识别特定场景中的特定补偿容积单元中存在或不存在障碍物

3. 发明申请

US20070071311A1 Method for processing stereo vision data using image density 有权
标题翻译：使用图像密度处理立体视觉数据的方法
公开(公告)号：US20070071311A1
公开(公告)日：2007-03-29
申请号：US11343142
申请日：2006-01-30
申请人： Francisco Rovira-Mas , Qin Zhang , John Reid
发明人： Francisco Rovira-Mas , Qin Zhang , John Reid
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T7/70
摘要： An image collection system collects stereo image data comprising left image data and right image data of a particular scene. An estimator estimates a reference three dimensional image density rating for corresponding reference volumetric cell within the particular scene at a reference range from an imaging unit. An image density compensator compensates for the change in image density rating between the reference volumetric cell and an evaluated volumetric cell by using a compensated three dimensional image density rating based on a range or relative displacement between the reference volumetric cell and the evaluated volumetric cell. An obstacle detector identifies a presence or absence of an obstacle in a particular compensated volumetric cell in the particular scene if the particular compensated volumetric cell meets or exceeds a minimum three dimensional image density rating
摘要翻译：图像采集系统收集包括特定场景的左图像数据和右图像数据的立体图像数据。估计器在来自成像单元的参考范围处估计在特定场景内的相应参考体积细胞的参考三维图像浓度等级。图像浓度补偿器通过使用基于参考体积细胞和评估的体积细胞之间的范围或相对位移的补偿的三维图像密度等级来补偿参考体积细胞和评估的体积细胞之间的图像浓度等级的变化。如果特定的补偿容积单元满足或超过最小三维图像密度等级，则障碍物检测器识别特定场景中的特定补偿容积单元中存在或不存在障碍物

4. 发明申请

US20060149417A1 Vision-aided system and method for guiding a vehicle 有权
标题翻译：视觉辅助系统和引导车辆的方法
公开(公告)号：US20060149417A1
公开(公告)日：2006-07-06
申请号：US11106868
申请日：2005-04-15
申请人： Shufeng Han , John Reid , Francisco Rovira-Mas
发明人： Shufeng Han , John Reid , Francisco Rovira-Mas
IPC分类号： G06F19/00
CPC分类号： A01B69/001 , A01B69/008 , G01C21/20 , G01S7/497 , G01S17/023 , G01S17/42 , G01S17/87 , G01S19/41 , G05D1/0246 , G05D1/0278
摘要： A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects a mixing ratio for the vision data and location data (or error signals associated therewith) based on the quality data.
摘要翻译：用于引导车辆的方法和系统包括用于收集车辆的位置数据的位置确定接收器。视觉模块收集车辆的视觉数据。位置质量估计器在评估时间窗口期间估计位置数据的位置质量数据。视觉模块在评估时间窗口期间估计视力数据的视觉质量数据。主管模块基于质量数据选择视觉数据和位置数据（或与其相关联的误差信号）的混合比。

5. 发明授权

US08712144B2 System and method for detecting crop rows in an agricultural field 有权
标题翻译：用于检测农田中作物排的系统和方法
公开(公告)号：US08712144B2
公开(公告)日：2014-04-29
申请号：US10817900
申请日：2004-04-06
申请人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G06K9/00664 , G06K9/209 , G06T7/593 , G06T2207/30128
摘要： A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity images based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene.
摘要翻译：公开了一种用于创建三维农业场景地图的系统和方法，包括使用立体相机产生一对图像，并基于该对图像创建视差图像，视差图像是立体图像的三维表示。可以从视差图像产生坐标阵列，坐标阵列可用于渲染农田场景的三维局部地图。全球地图也可以通过使用与各种局部地图相关联的地理位置信息来将多个局部地图映射到场景的三维全局表示中。

6. 发明申请

US20060149472A1 Vision-aided system and method for guiding a vehicle 有权
公开(公告)号：US20060149472A1
公开(公告)日：2006-07-06
申请号：US11106782
申请日：2005-04-15
申请人： Shufeng Han , John Reid , Francisco Rovira-Mas
发明人： Shufeng Han , John Reid , Francisco Rovira-Mas
IPC分类号： G01C21/00
CPC分类号： G01C21/28 , G05D1/0246 , G05D1/0278
摘要： A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects at least one of a location data weight and a vision data weight based on the quality data.

7. 发明授权

US08737720B2 System and method for detecting and analyzing features in an agricultural field 有权
标题翻译：农业领域检测和分析特征的系统和方法
公开(公告)号：US08737720B2
公开(公告)日：2014-05-27
申请号：US10817901
申请日：2004-04-06
申请人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G06K9/209 , G06K9/00664 , G06T7/593 , G06T7/97 , G06T2207/30128
摘要： A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity images based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene. The disparity images can be used to analyze a variety of agricultural features.
摘要翻译：公开了一种用于创建三维农业场景地图的系统和方法，包括使用立体相机产生一对图像，并基于该对图像创建视差图像，视差图像是立体图像的三维表示。可以从视差图像产生坐标阵列，坐标阵列可用于渲染农田场景的三维局部地图。全球地图也可以通过使用与各种局部地图相关联的地理位置信息来将多个局部地图映射到场景的三维全局表示中。差异图像可用于分析各种农业特征。

8. 发明授权

US08433483B2 Method and system for vehicular guidance with respect to harvested crop 有权
标题翻译：相对于收获作物的车辆引导方法和系统
公开(公告)号：US08433483B2
公开(公告)日：2013-04-30
申请号：US13343340
申请日：2012-01-04
申请人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
发明人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
IPC分类号： A01B73/00
CPC分类号： A01B69/001 , A01B69/008
摘要： A discriminator identifies windrow pixels associated with a windrow within a collected image. A definer defines a search space with respect to a vehicle. An evaluator determines respective spatial correlations between the defined search space and the windrow pixels for different angular displacements of the search space. An alignment detector or search engine determining a desired vehicular heading as a preferential angular displacement associated with a generally maximum spatial correlation between the defined search space and the windrow pixels. An offset calculator estimates an offset of the vehicle to a central point of the windrow or a depth axis to achieve the desired vehicle heading and desired position of the vehicle with respect to the windrow.
摘要翻译：鉴别器识别与收集的图像内的堆料相关联的堆积像素。定义者定义了关于车辆的搜索空间。评估者确定搜索空间的不同角度位移之间的所定义的搜索空间和堆垛像素之间的相应的空间相关性。一种对准检测器或搜索引擎，其将期望的车辆航向确定为与所定义的搜索空间和货架像素之间的通常最大空间相关性相关联的优先角位移。偏移计算器估计车辆相对于货架的中心点的偏移或深度轴线，以实现相对于料堆的期望的车辆行驶和车辆的期望位置。

9. 发明授权

US08185275B2 System for vehicular guidance with respect to harvested crop 有权
标题翻译：关于收获作物的车辆指导系统
公开(公告)号：US08185275B2
公开(公告)日：2012-05-22
申请号：US11342760
申请日：2006-01-30
申请人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
发明人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
IPC分类号： G05F7/70
CPC分类号： A01B69/001 , A01B69/008
摘要： A discriminator identifies windrow pixels associated with a windrow within a collected image. A definer defines a search space with respect to a vehicle. An evaluator determines respective spatial correlations between the defined search space and the windrow pixels for different angular displacements of the search space. An alignment detector or search engine determining a desired vehicular heading as a preferential angular displacement associated with a generally maximum spatial correlation between the defined search space and the windrow pixels. An offset calculator estimates an offset of the vehicle to a central point of the windrow or a depth axis to achieve the desired vehicle heading and desired position of the vehicle with respect to the windrow.
摘要翻译：鉴别器识别与收集的图像内的堆料相关联的堆积像素。定义者定义了关于车辆的搜索空间。评估者确定搜索空间的不同角度位移之间的所定义的搜索空间和堆垛像素之间的相应的空间相关性。一种对准检测器或搜索引擎，其将期望的车辆航向确定为与所定义的搜索空间和货架像素之间的通常最大空间相关性相关联的优先角位移。偏移计算器估计车辆相对于货架的中心点的偏移或深度轴线，以实现相对于料堆的期望的车辆行驶和车辆的期望位置。

10. 发明申请

US20120101695A1 SYSTEM FOR VEHICULAR GUIDANCE WITH RESPECT TO HARVESTED CROP 有权
标题翻译：关于收割作业的机构指导系统
公开(公告)号：US20120101695A1
公开(公告)日：2012-04-26
申请号：US13343340
申请日：2012-01-04
申请人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
发明人： Shufeng Han , Jiantao Wei , Francisco Rovira-Mas
IPC分类号： G06F19/00 , A01D75/00
CPC分类号： A01B69/001 , A01B69/008
摘要： A discriminator identifies windrow pixels associated with a windrow within a collected image. A definer defines a search space with respect to a vehicle. An evaluator determines respective spatial correlations between the defined search space and the windrow pixels for different angular displacements of the search space. An alignment detector or search engine determining a desired vehicular heading as a preferential angular displacement associated with a generally maximum spatial correlation between the defined search space and the windrow pixels. An offset calculator estimates an offset of the vehicle to a central point of the windrow or a depth axis to achieve the desired vehicle heading and desired position of the vehicle with respect to the windrow.
摘要翻译：鉴别器识别与收集的图像内的堆料相关联的堆积像素。定义者定义了关于车辆的搜索空间。评估者确定搜索空间的不同角度位移之间的所定义的搜索空间和堆垛像素之间的相应的空间相关性。一种对准检测器或搜索引擎，其将期望的车辆航向确定为与所定义的搜索空间和货架像素之间的通常最大空间相关性相关联的优先角位移。偏移计算器估计车辆相对于货架的中心点的偏移或深度轴线，以实现相对于料堆的期望的车辆行驶和车辆的期望位置。

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