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 |
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.
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