Camera-Based Implement Tracking With 3D Feature Localization
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Solution Overview
Problem
Existing work vehicles face challenges in accurately tracking the pose of movable implements due to sensor drift and exposure issues, especially under harsh conditions, which can lead to operational risks and inefficiencies during implement changes.
Innovation Solution
A method utilizing image-based tracking with a feature tracking algorithm to derive 3D map data, providing positional and arrangement information of implement features relative to a 3D environment model, and using benchmark information for absolute scale, enabling precise implement tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If internal sensors (inclinometers, accelerometers, strain gauges) are used to track implement pose, then implement tracking capability is provided, but sensor drift occurs especially under harsh conditions leading to reduced measurement precision
Solution Approach 1:
The patent introduces an imaging sensor (camera) as an intermediary device to track implement features visually. This camera-based system serves as a mediator between the implement and the tracking system, providing pose information through image processing rather than relying on drift-prone internal sensors. The imaging sensor captures images of implement features, and through coordinate transformations and feature tracking algorithms, accurate pose data is derived without direct contact with the implement.
Solution Approach 2:
The patent replaces the mechanical sensor system (inclinometers, accelerometers, strain gauges) with an optical/image processing system. Instead of using physical sensors that experience drift and shock forces, the system uses a camera to capture images and processes these images through coordinate transformations and feature tracking to determine implement pose, thereby substituting a mechanical measurement system with an optical one.
2Measurement precision
If sensors are mounted directly on the implement or arm for direct measurement, then accurate implement pose data can be obtained, but the sensors are exposed to shock forces above tolerance levels and harsh conditions reducing reliability
Solution Approach 1:
The imaging sensor acts as an intermediary that observes the implement from a protected location on the work vehicle. Rather than placing sensors directly on the implement where they would be exposed to shock forces, the camera is mounted on the work vehicle and tracks the implement remotely through its features in the field of view, protecting the sensing device from harsh conditions while maintaining tracking capability.
Solution Approach 2:
The system creates a visual copy or representation of the implement through image capture. Instead of physically contacting the implement with sensors, the camera creates an optical copy of the implement's appearance and features, which are then processed to extract pose information. This copying approach allows measurement without physical exposure to shock forces.
3Productivity
If traditional sensor systems are used for implement tracking, then implement pose can be tracked, but the system cannot provide accurate data during rapid implement changes or when implements are unmounted
Solution Approach 1:
The imaging sensor system serves multiple functions: it tracks mounted implements during operation, captures images of unmounted implements for feature identification, and provides data for both real-time tracking and offline calibration. This universal system handles both mounted and unmounted implement scenarios, whereas traditional sensors only work when physically attached to the implement.
Solution Approach 2:
The system performs preliminary imaging and feature detection when implements are unmounted or during transition periods. By capturing images and identifying features before mounting occurs, the system prepares tracking data in advance, ensuring continuous and accurate tracking throughout implement changes without interruption or loss of precision.
Data Source
AI summary
A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.