US 12,245,534 B2
Detecting and tracking features of plants for treatment 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 Mar. 25, 2024, as Appl. No. 18/615,920.
Application 18/615,920 is a continuation of application No. 17/932,566, filed on Sep. 15, 2022, granted, now 11,937,524.
Application 17/932,566 is a continuation of application No. 17/898,345, filed on Aug. 29, 2022, granted, now 11,785,873, issued on Oct. 17, 2023.
Application 17/898,345 is a continuation of application No. 17/506,588, filed on Oct. 20, 2021, granted, now 11,425,852, issued on Aug. 30, 2022.
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, issued on Jul. 4, 2023.
Prior Publication US 2024/0251694 A1, Aug. 1, 2024
Int. Cl. A01B 69/00 (2006.01); A01B 79/00 (2006.01); G05D 1/00 (2006.01); G05D 1/249 (2024.01); G06N 3/08 (2023.01); G06T 7/194 (2017.01)
CPC A01B 69/001 (2013.01) [A01B 79/005 (2013.01); G05D 1/0246 (2013.01); G05D 1/249 (2024.01); G06N 3/08 (2013.01); G06T 7/194 (2017.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30188 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method implemented by a treatment system couple to a moving platform, the treatment system having one or more processors, a storage, and a target mechanism, comprising:
obtaining images of an agricultural environment including a first image comprising at least one background portion and one or more regions of interest;
implementing a machine learning (ML) algorithm on a portion of the first image including a portion of the background portion and the one or more regions of interest;
detecting a plurality of objects associated with a plurality of real-world objects in the agricultural environment in at least one region of interest in the one or more regions of interest of the first image including detecting a first object and detecting a second object;
implementing a second algorithm on the portion of the first image comprising the first object to detect one or more divided features of the first object;
tracking a feature of the one or more divided features across subsequent images as the moving platform traverses the agricultural environment;
tracking the second object; and
selecting a target action configured to target the second object and applying the target action via the target mechanism to the second object.