ROW GUIDANCE PARAMETERIZATION WITH HOUGH TRANSFORM

摘要

Systems and techniques for row guidance parameterization with Hough transform are described herein. An electronic representation of a field (ERF) can be received. The ERF can include a set of feature sets including one of a set of crop row features or a set of furrow features. A first parameter space can be produced by applying a slope-intercept Hough transform (SLIHT) to members of a feature set. Peaks in the first parameter space can be identified. A second parameter space can be produced by application of the SLIHT to the peaks. A vanishing point can be calculated based on a vanishing point peak in the second parameter space. A track-angle error can be calculated from the vanishing point.

主权项

1. A massed machine-readable medium (MMRM) including instructions that, when executed by a machine, cause the machine to perform operations comprising:
receiving an electronic representation of a field (ERF) including a set of feature sets, the set of feature sets including at least one of a set of crop row features and a set of furrow features; producing a first parameter space by performing a slope-intercept Hough transform (SLIHT) on members of a feature set in the set of feature sets, the first parameter space including a first slope parameter and a first intercept parameter; identifying peaks in the first parameter space; producing a second parameter space by performing the SLIHT on the peaks; calculating a vanishing point based on a vanishing point peak in the second parameter space; and calculating a track-angle error (TKE) from the vanishing point.