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1. 发明授权

US07792607B2 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：US07792607B2
公开(公告)日：2010-09-07
申请号：US11106868
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
发明人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
IPC分类号： G06F19/00 , G08G1/123
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。

2. 发明授权

US07610123B2 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：US07610123B2
公开(公告)日：2009-10-27
申请号：US11106782
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
发明人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
IPC分类号： G06F7/70 , G05D1/08 , G01C22/00
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.
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位置数据权重和视觉数据权重中的至少一个。

3. 发明申请

US20090292412A1 Vehicular Guidance System Having Compensation for Variations in Ground Elevation 有权
标题翻译：车辆导向系统补偿地面高程变化
公开(公告)号：US20090292412A1
公开(公告)日：2009-11-26
申请号：US12542333
申请日：2009-08-17
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： G05D1/00
CPC分类号： A01B79/005 , A01B69/008 , G01C21/00
摘要： A system and method of guiding a vehicle comprises establishing elevation data and corresponding location data for a work area. A particular location of a vehicle within the work area is determined. Roll data and pitch data are estimated corresponding to the particular location. The vehicle is guided based upon the estimated roll data and the pitch data such that the vehicle follows a desired path.
摘要翻译：引导车辆的系统和方法包括建立高程数据和工作区域的相应位置数据。确定工作区域内车辆的特定位置。对应于特定位置估计滚动数据和间距数据。基于估计的滚动数据和俯仰数据来引导车辆，使得车辆遵循期望的路径。

4. 发明授权

US07233683B2 Method and system for guiding a vehicle with vision-based adjustment 有权
标题翻译：用于引导基于视觉调节的车辆的方法和系统
公开(公告)号：US07233683B2
公开(公告)日：2007-06-19
申请号：US11107114
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： G06K9/00
CPC分类号： G05D1/0278 , G01S19/48 , G05D1/0246
摘要： A method and system for guiding a vehicle comprises a location module (e.g., location-determining receiver) for collecting preliminary location data for the vehicle. A vision module collects vision-derived location data for the vehicle during an evaluation time window. A location quality estimator estimates location quality data for the corresponding collected preliminary location data during an evaluation time window. A vision module estimates vision quality data for the corresponding collected vision-derived location data during the evaluation time window. A adjuster adjusts the preliminary location data to a revised location data based on the vision-derived location data such that the revised location data is registered with or generally coextensive with the vision-derived location data, if the vision quality data exceeds the minimum threshold level.
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初始位置数据的位置模块（例如，位置确定接收器）。视觉模块在评估时间窗口期间收集车辆的视觉派生位置数据。在评估时间窗口期间，位置质量估计器估计相应采集的初步位置数据的位置质量数据。视觉模块估计在评估时间窗口期间相应收集的视觉来源位置数据的视觉质量数据。如果视觉质量数据超过最小阈值水平，调整器将基于视觉导出的位置数据将初步位置数据调整到经修改的位置数据，使得修改的位置数据被注册或者与视觉来源的位置数据大致共同延伸。

5. 发明授权

US07844380B2 Vehicular guidance system having compensation for variations in ground elevation 有权
标题翻译：车辆导向系统补偿地面高程变化
公开(公告)号：US07844380B2
公开(公告)日：2010-11-30
申请号：US12542333
申请日：2009-08-17
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： A01D41/127 , G05D1/10 , G01C21/04
CPC分类号： A01B79/005 , A01B69/008 , G01C21/00
摘要： A system and method of guiding a vehicle comprises establishing elevation data and corresponding location data for a work area. A particular location of a vehicle within the work area is determined. Roll data and pitch data are estimated corresponding to the particular location. The vehicle is guided based upon the estimated roll data and the pitch data such that the vehicle follows a desired path.
摘要翻译：引导车辆的系统和方法包括建立高程数据和工作区域的相应位置数据。确定工作区域内车辆的特定位置。对应于特定位置估计滚动数据和间距数据。基于估计的滚动数据和俯仰数据来引导车辆，使得车辆遵循期望的路径。

6. 发明授权

US07593798B2 Vehicular guidance system having compensation for variations in ground elevation 有权
标题翻译：车辆导向系统补偿地面高程变化
公开(公告)号：US07593798B2
公开(公告)日：2009-09-22
申请号：US10696788
申请日：2003-10-30
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： A01D41/127 , G05D1/10 , G01C21/04
CPC分类号： A01B79/005 , A01B69/008 , G01C21/00
摘要： A system and method of guiding a vehicle comprises establishing elevation data and corresponding location data for a work area. A particular location of a vehicle within the work area is determined. Roll data and pitch data are estimated corresponding to the particular location. The vehicle is guided based upon the estimated roll data and the pitch data such that the vehicle follows a desired path.
摘要翻译：引导车辆的系统和方法包括建立高程数据和工作区域的相应位置数据。确定工作区域内车辆的特定位置。对应于特定位置估计滚动数据和间距数据。基于估计的滚动数据和俯仰数据来引导车辆，使得车辆遵循期望的路径。

7. 发明授权

US08150574B2 Method and system for guiding a vehicle with vision-based adjustment 有权
标题翻译：用于引导基于视觉调节的车辆的方法和系统
公开(公告)号：US08150574B2
公开(公告)日：2012-04-03
申请号：US11755992
申请日：2007-05-31
申请人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
发明人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
IPC分类号： A01B69/00
CPC分类号： G05D1/024 , A01B69/007 , G01S19/48 , G05D1/0278 , G06K9/00798
摘要： Preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a regression path and density grid points. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
摘要翻译：在评估时间窗口期间为车辆确定初步指导数据。视觉模块在评估时间窗口期间从视觉模块收集视觉数据。视觉指导数据是从收集的视力数据中确定的。在评估时间窗口期间，视觉质量估计器估计视觉数据和视觉指导数据中的至少一个的视觉质量数据。视觉质量数据基于回归路径和密度网格点。如果视觉质量数据超过最小阈值，则调节器基于视觉指导数据将初步指导数据调整为修改的指导数据，使得修改的指导数据与视觉指导数据一起登记或者与视觉指导数据大致共同延伸。

8. 发明授权

US07876927B2 Method and system for guiding a vehicle with vision-based adjustment 有权
标题翻译：用于引导基于视觉调节的车辆的方法和系统
公开(公告)号：US07876927B2
公开(公告)日：2011-01-25
申请号：US11755965
申请日：2007-05-31
申请人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
发明人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
IPC分类号： G06K9/00 , G08G1/095 , G08G5/00 , G08G1/123 , G01C22/00
CPC分类号： G06K9/00798 , A01B69/007 , G01S19/48 , G05D1/0246 , G05D1/0278 , G05D2201/0201
摘要： A preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a cross correlations and an r-squared value. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
摘要翻译：在评估时间窗口期间确定车辆的初步指导数据。视觉模块在评估时间窗口期间从视觉模块收集视觉数据。视觉指导数据是从收集的视力数据中确定的。在评估时间窗口期间，视觉质量估计器估计视觉数据和视觉指导数据中的至少一个的视觉质量数据。视觉质量数据基于互相关和r平方值。如果视觉质量数据超过最小阈值，则调节器基于视觉指导数据将初步指导数据调整为修改的指导数据，使得修改的指导数据与视觉指导数据一起登记或者与视觉指导数据大致共同延伸。

9. 发明授权

US07242791B2 Method and system for guiding a vehicle with vision enhancement 有权
标题翻译：用于引导具有视力增强的车辆的方法和系统
公开(公告)号：US07242791B2
公开(公告)日：2007-07-10
申请号：US11106783
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： G06K9/00 , H04N7/18 , H04N9/00 , G01C22/00 , G01C21/00 , G05D1/00
CPC分类号： G05D1/0278 , G05D1/0246
摘要： A method and system for guiding a-vehicle comprises a location module for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A maximum allowable correction duration and a maximum allowable vision-derived displacement are established for correction of a position of a vehicle. A location quality estimator estimates location quality data for the corresponding collected location data during an evaluation time window. A vision module estimates vision quality data for the corresponding collected vision data during the evaluation time window. A selector selects the application of location data or vision data based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement for the evaluation time window or for an application interval trailing the evaluation time window.
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模块。视觉模块收集车辆的视觉数据。建立最大允许校正持续时间和最大允许视觉取向位移，用于校正车辆的位置。位置质量估计器估计在评估时间窗口期间对应的收集的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相应的收集的视觉数据的视觉质量数据。选择器基于质量数据和评估时间窗口的最大可允许校正持续时间和最大可允许视觉导出位移中的至少一个或者在评估时间窗口之后的应用间隔中选择位置数据或视觉数据的应用。

10. 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。

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