US 11,785,873 B2
Detecting multiple objects of interest in an agricultural environment
Gabriel Thurston Sibley, Alameda, CA (US); Lorenzo Ibarria, Dublin, CA (US); Curtis Dale Garner, Sand City, CA (US); Patrick Christopher Leger, Belmont, CA (US); and Dustin James Webb, Murray, UT (US)
Assigned to VERDANT ROBOTICS, INC., Hayward, CA (US)
Filed by Verdant Robotics, Inc., Hayward, CA (US)
Filed on Aug. 29, 2022, as Appl. No. 17/898,345.
Application 17/898,345 is a continuation of application No. 17/506,588, filed on Oct. 20, 2021, granted, now 11,425,852.
Application 17/506,588 is a continuation in part of application No. 17/073,244, filed on Oct. 16, 2020, granted, now 11,694,434.
Prior Publication US 2022/0400596 A1, Dec. 22, 2022
Int. Cl. A01B 69/00 (2006.01); A01B 79/00 (2006.01); G05D 1/02 (2020.01); G06T 7/194 (2017.01); G06N 3/08 (2023.01)
CPC A01B 69/001 (2013.01) [A01B 79/005 (2013.01); G05D 1/0246 (2013.01); G06N 3/08 (2013.01); G06T 7/194 (2017.01); G05D 2201/0201 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30188 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method implemented by a treatment system having one or more processors, a storage, and a treatment mechanism, comprising:
obtaining, by the treatment system disposed on a vehicle and configured to implement a machine learning (ML) algorithm, sensor readings of a region of an agricultural environment;
selecting a smaller portion or a layer of the sensor readings to be processed by an algorithm;
determining, by processing the smaller portion or the layer of the sensor readings, a presence of an object in the sensor readings and whether the object is a treatment candidate; and
applying, upon determining that the object is the treatment candidate, a treatment to a real-world target corresponding to the object by activating the treatment mechanism according to a treatment parameter for the treatment candidate; and
detecting a first object in a first frame at a location;
wherein, upon determining that the location of the first object has not moved out from the first frame of the sensor readings to a subsequent frame of the sensor readings, and the first object is undetected in the subsequent frame while other agricultural objects and landmarks have been detected in the subsequent frame, the first object is excluded from the treatment.