US 12,356,903 B2
Systems and methods for predicting crop size and yield
Benjamin Meltzer, Cape Town (ZA); Michael Wootton, Cape Town (ZA); James Paterson, Los Angeles, CA (US); Munsanje Mweene, Cape Town (ZA); and Joshua Washington Perry, Cape Town (ZA)
Assigned to Aerobotics (Pty) Ltd, Cape Town (ZA)
Filed by Aerobotics (Pty) Ltd, Cape Town (ZA)
Filed on Dec. 7, 2023, as Appl. No. 18/532,071.
Application 18/532,071 is a continuation of application No. 17/206,064, filed on Mar. 18, 2021, abandoned.
Application 17/206,064 is a continuation of application No. PCT/US2021/020038, filed on Feb. 26, 2021.
Claims priority of provisional application 62/988,213, filed on Mar. 11, 2020.
Prior Publication US 2024/0116630 A1, Apr. 11, 2024
Int. Cl. A01G 22/05 (2018.01); A01G 17/00 (2006.01); B64U 101/30 (2023.01); B64U 101/40 (2023.01); G06F 18/214 (2023.01); G06F 18/23 (2023.01); G06F 18/2411 (2023.01); G06F 18/2453 (2023.01); G06N 3/08 (2023.01); G06N 5/01 (2023.01); G06N 20/10 (2019.01); G06V 10/764 (2022.01); G06V 10/771 (2022.01); G06V 10/80 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/17 (2022.01); G06V 20/68 (2022.01)
CPC A01G 22/05 (2018.02) [A01G 17/005 (2013.01); G06F 18/214 (2023.01); G06F 18/23 (2023.01); G06F 18/2411 (2023.01); G06F 18/2453 (2023.01); G06N 3/08 (2013.01); G06N 5/01 (2023.01); G06N 20/10 (2019.01); G06V 10/764 (2022.01); G06V 10/771 (2022.01); G06V 10/806 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/17 (2022.01); G06V 20/188 (2022.01); B64U 2101/30 (2023.01); B64U 2101/40 (2023.01); G06T 2207/30128 (2013.01); G06T 2207/30188 (2013.01); G06V 20/68 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A method of estimating a yield of fruit growing in an agricultural plot, comprising:
obtaining, at a first position, a first plurality of images of a canopy of the agricultural plot from a first view of the canopy of the agricultural plot;
estimating, from the first plurality of images of the canopy of the agricultural plot obtained from the first view of the canopy of the agricultural plot, a first number of fruit detectable from the first plurality of images of the canopy of the agricultural plot;
obtaining, at a second position, distinct from the first position, a second plurality of images of the canopy of the agricultural plot from a second view of the canopy of the agricultural plot;
estimating from the second plurality of images of the canopy of the agricultural plot obtained from the second view of the canopy of the agricultural plot, a second number of fruit detectable from the second plurality of images of the canopy of the agricultural plot; and
estimating a yield of fruit and a fruit size, where the yield of fruit is based on a scaling factor to determine an estimate of fruit yield that includes fruit not visible in the first plurality of images and the second plurality of images, wherein:
the estimation of the yield of fruit includes an estimated distribution of fruit sizes, and
the estimation of the yield of fruit includes scaling the estimated yield of fruit from the agricultural plot based on the estimated distribution of fruit sizes.