US 12,311,926 B2
Work machine distance prediction and action control
Noel W. Anderson, Fargo, ND (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Nov. 30, 2021, as Appl. No. 17/538,900.
Prior Publication US 2023/0166732 A1, Jun. 1, 2023
Int. Cl. A01B 79/00 (2006.01); B60W 30/095 (2012.01); B60W 50/16 (2020.01); G01C 21/00 (2006.01); G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06T 7/20 (2017.01); G06T 7/50 (2017.01); G06T 7/60 (2017.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06V 10/70 (2022.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01); G06V 20/60 (2022.01); B60W 50/14 (2020.01)
CPC B60W 30/0956 (2013.01) [A01B 79/005 (2013.01); B60W 50/16 (2013.01); G01C 21/3826 (2020.08); G01C 21/3837 (2020.08); G06F 18/2148 (2023.01); G06F 18/24 (2023.01); G06T 7/20 (2013.01); G06T 7/50 (2017.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06V 10/70 (2022.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01); G06V 20/60 (2022.01); B60W 2050/143 (2013.01); B60W 2300/15 (2013.01); B60W 2420/403 (2013.01); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01); B60W 2720/24 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30188 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30241 (2013.01); G06V 2201/07 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving an image captured by a camera of a work machine moving within an environment;
accessing a ranking of a plurality of object types, the ranking including: (i) an importance metric which ranks objects based on object type; and (ii) a dimensionality metric which ranks objects having standardized dimensions higher than objects having non-standardized dimensions;
identifying one or more objects in the image;
selecting an object of interest from among the one or more identified objects based on the ranking including the importance metric and the dimensionality metric associated with the one or more identified objects;
determining an angle between the camera and the object of interest;
accessing a height associated with the object of interest and an uncertainty associated with the height;
determining a range of potential distances between the work machine and the object of interest based on the height associated with the object of interest, the uncertainty associated with the height, and the angle between the camera and the object of interest;
comparing a shortest distance in the range of potential distances to a threshold distance, wherein the threshold distance is determined based on an object type associated with the object of interest; and
responsive to the shortest distance in the range of potential distances being less than the threshold distance, causing the work machine to perform a safety action.