| CPC G06T 1/0014 (2013.01) [A01D 46/00 (2013.01); G06T 15/005 (2013.01)] | 18 Claims |
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1. A method comprising:
capturing, as an autonomous harvesting machine operates in an orchard, image data of trees in a tree row, wherein:
the image data is captured with a monocular camera and comprising a series of monocular images; and
the image data comprises a two-dimensional representation of the trees in the tree row;
inputting the image data in a graphic generation model, the graphic generation model configured to:
determine positions of each tree in the tree row in three dimensions using the series of monocular images; and
generate output data comprising a three-dimensional graphic, the three-dimensional graphic comprising a representation of each tree in the tree row at their determined positions; and
modifying an operation of the autonomous harvesting machine operating in the tree row based on the output data comprising the three-dimensional graphic.
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