US 11,960,295 B2
3-D image system for vehicle control
Tommy Ertboelle Madsen, Fremont, CA (US); and Anant Sakharkar, San Jose, CA (US)
Assigned to AGJUNCTION LLC, Tempe, AZ (US)
Filed by AGJUNCTION LLC, Scottsdale, AZ (US)
Filed on Jan. 28, 2022, as Appl. No. 17/586,918.
Application 17/586,918 is a continuation of application No. 16/012,103, filed on Jun. 19, 2018, granted, now 11,269,346.
Claims priority of provisional application 62/523,667, filed on Jun. 22, 2017.
Prior Publication US 2022/0155794 A1, May 19, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G01C 21/30 (2006.01); G01S 19/45 (2010.01); G05D 1/00 (2006.01)
CPC G05D 1/0251 (2013.01) [G01C 21/30 (2013.01); G01S 19/45 (2013.01); G05D 1/0088 (2013.01); G05D 1/0253 (2013.01); G05D 2201/0201 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A control system for controlling a vehicle, the control system comprising:
one or more hardware processors configured to:
receive image data for a row in a field;
generate visual odometry (VO) data from the image data;
use the VO data to identify a position of the vehicle while moving along a path next to the row;
use the VO data to detect the vehicle reaching an end of the row, including:
identify probability curves, including at least a first probability curve for a first possible location using global navigation satellite system (GNSS) data and a second probability curve for a second different possible location using the VO data;
determine a location of the end of the row based at least in part on a calculated combined probability curve from any overlapping ones of the probability curves; and
turn the vehicle around from a first position at the end of the row to a second position at a start of another row based at least in part on the determined location.