AUTONOMOUS WORK VEHICLE USING IMAGE-BASED LOCALIZATION

An autonomous work vehicle generates a localization image of a part of a scene surrounding the autonomous work vehicle and generates a check image of a different part of the scene. A controller of the vehicle performs a localization process that involves generating the localization image and the che...

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Bibliographic Details
Main Authors LANDERS, Stephen Paul Elizondo, SCHWENDEMANN, Eckhard, LAROSE, David Arthur, FRICK, Alexander Steven
Format Patent
LanguageEnglish
Published 14.12.2023
Subjects
AGRICULTURE
ANIMAL HUSBANDRY
CONTROLLING
FISHING
FORESTRY
GYROSCOPIC INSTRUMENTS
HARVESTING
HUMAN NECESSITIES
HUNTING
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
MOWING
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
REGULATING
SURVEYING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TESTING
TRAPPING
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Summary:An autonomous work vehicle generates a localization image of a part of a scene surrounding the autonomous work vehicle and generates a check image of a different part of the scene. A controller of the vehicle performs a localization process that involves generating the localization image and the check image. The localization image is used to determine an estimated pose of the autonomous work vehicle within the work region via a stored 3D point cloud (3DPC). The estimated pose and the 3DPC are used to determine predicted features within the check image. A comparison between the predicted features and corresponding features in the check image validates the estimated pose based on the comparison satisfying a threshold.
Bibliography:Application Number: AU20220294899