CPC G05D 1/0246 (2013.01) [G06F 18/2155 (2023.01); G06N 20/10 (2019.01); G06V 20/188 (2022.01); G06V 20/41 (2022.01); H04W 4/40 (2018.02)] | 20 Claims |
1. A device comprising:
a processing system including a processor;
a communication system enabling the device to wirelessly communicate with a remote computer from which the device can receive instruction and send information; and
a memory that stores executable instructions that, when executed by the processing system, perform operations, the operations comprising:
obtaining video data from a single monocular camera, wherein the video data comprises a plurality of frames, wherein the single monocular camera is attached to a ground mobile robot that is travelling along a lane defined by a row of crops, wherein the row of crops comprises a first plant stem, and wherein the plurality of frames include a depiction of the first plant stem;
obtaining robot velocity data from one or more encoders, wherein the one or more encoders are attached to the ground mobile robot that is travelling along the lane;
performing foreground extraction on each of the plurality of frames of the video data, wherein the foreground extraction results in a plurality of foreground images; and
determining, based upon the plurality of foreground images and based upon the robot velocity data, an estimated width of the first plant stem, wherein the determining comprises determining a ratio R, wherein R=VR/Vx, wherein VR is an instantaneous robot velocity obtained via the robot velocity data and Vx is an average horizontal foreground pixel velocity obtained via a structure from motion process that is based upon the plurality of frames of the video data.
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