Agricultural Driver Assistance Using Segmented Camera-Laser Fusion
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Solution Overview
Problem
Existing methods for sensor-based monitoring of self-propelled agricultural working machines face challenges in detecting and intuitively representing environmental properties due to non-standardized environments, requiring computationally intensive processes and lacking clear representations.
Innovation Solution
The method involves segmenting camera images using an image processing system and merging them with sensor information from a laser-based sensor system, reducing data processing volume and enhancing information content, allowing for intuitive display and classification of environmental properties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor-based monitoring uses both camera-based and laser-based sensor systems to detect environmental properties, then measurement precision and information content are improved, but device complexity and computational requirements increase
Solution Approach 1:
The patent segments camera images into multiple image segments corresponding to different environmental regions. Each segment is then processed independently with appropriate sensor fusion, reducing overall computational complexity while maintaining detection precision. The segmentation allows the system to focus processing resources on relevant areas rather than processing entire images uniformly.
Solution Approach 2:
The patent merges data from camera-based sensors and laser-based sensors through sensor fusion. By combining the visual information from cameras with the structured data from laser sensors (such as LIDAR), the system achieves enhanced measurement precision for environmental properties while utilizing the complementary strengths of different sensor types.
2Loss of information
If the system processes complete camera images with high resolution, then information content is improved, but data processing volume and computational time increase
Solution Approach 1:
The patent divides complete camera images into multiple smaller image segments. This segmentation reduces the data processing volume for each segment while preserving important environmental information. The system can process segments in parallel or sequentially, improving overall processing speed without significant loss of relevant environmental data.
Solution Approach 2:
The patent extracts only the relevant image segments that contain environmental properties of interest, rather than processing entire high-resolution images. This extraction approach maintains the necessary information content while dramatically reducing the computational burden and processing time required.
3Reliability
If the system integrates multiple sensor systems for comprehensive environmental detection, then reliability is improved, but ease of operation and intuitive representation decrease
Solution Approach 1:
The patent superimposes processed image segments onto the original camera image, adding a visual dimension to the data representation. This overlay approach provides intuitive spatial context for detected environmental properties, making the complex multi-sensor data easier to interpret while maintaining the reliability benefits of comprehensive sensor integration.
Solution Approach 2:
The patent creates a simplified visual copy or representation of the environmental scene by overlaying processed segments on the original image. This copy presents the complex sensor data in an intuitive format that is easier to operate with and interpret, while the underlying multi-sensor system maintains high reliability for detection.
Data Source
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Figure 3a~3d
AI summary
The invention relates to a method for operating a self-propelled agricultural machine (1) with at least one working element (3-8) and with a driver assistance system (9) for generating control actions within the machine (1), wherein a sensor arrangement (10) is provided for generating environmental information, wherein the driver assistance system (9) generates the control actions based on the environmental information, wherein the sensor arrangement (10) comprises a camera-based sensor system (11) and a laser-based sensor system (12), each generating sensor information about a predetermined, relevant environmental area (13) of the machine (1), wherein the sensor information of the camera-based sensor system (11) is available as output camera images (14).It is proposed that the driver assistance system (9) includes an image processing system (15) for processing the output camera images (14), that the output camera images (14) are segmented into image segments (18) by the image processing system (15) according to a segmentation rule, that a sensor fusion module (19) is provided, and that the segmented camera images (14') are fused by the sensor fusion module (19) with the sensor information from the laser-based sensor system (12).