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 non-transitory machine-readable medium including instructions that, when executed by a machine, cause the machine to perform operations comprising:
receiving an image with a set of features; detecting a plurality of lines corresponding to the set of features; calculating a vanishing point from the plurality of lines; projecting a projected line from a point on the image representing a vehicle to the vanishing point; calculating an angle error between the projected line and a vehicle direction line from the point on the image, wherein the vehicle direction line corresponds to a heading of the vehicle; and providing the angle error to a steering module of a vehicle to which the image capture device is mounted.