公开(公告)号：US11495016B2

公开(公告)日：2022-11-08

申请号：US17206066

申请日：2021-03-18

申请人： Aerobotics (Pty) Ltd

发明人： Benjamin Meltzer ,  Michael Wootton ,  James Paterson ,  Munsanje Mweene

IPC分类号： G06V20/10 ,  G06K9/62 ,  G06N20/10 ,  G06N3/08 ,  G06N5/00 ,  A01G17/00 ,  A01G22/05 ,  G06V10/44 ,  B64C39/02 ,  G06V20/68

摘要： A computer system obtains, using a camera, a first plurality of images of a canopy an agricultural plot. For each respective fruit of a plurality of fruit growing in the agricultural plot, the computer system identifies a first respective image in the first plurality of images that comprises the respective fruit. The first respective image has a corresponding first camera location. The computer system also identifies a second respective image in the first plurality of images that comprises the respective fruit. The second respective image has a corresponding second camera location. The computer system uses at least i) the first and second respective images and ii) a distance between the first and second camera locations to determine a corresponding size of the respective fruit.

公开(公告)号：US11718401B2

公开(公告)日：2023-08-08

申请号：US17206068

申请日：2021-03-18

申请人： Aerobotics (Pty) Ltd

发明人： Benjamin Meltzer ,  Michael Wootton ,  James Paterson ,  Munsanje Mweene

IPC分类号： B64C39/02 ,  A01G22/05 ,  G06V20/10 ,  G06V10/771 ,  G06V10/764 ,  G06V10/82 ,  G06N20/10 ,  A01G17/00 ,  G06N3/08 ,  G06F18/23 ,  G06F18/214 ,  G06F18/2411 ,  G06F18/2453 ,  G06N5/01 ,  G06V10/80 ,  G06V20/17 ,  G06V20/68 ,  B64U101/30

CPC分类号： B64C39/024 ,  A01G17/005 ,  A01G22/05 ,  G06F18/214 ,  G06F18/23 ,  G06F18/2411 ,  G06F18/2453 ,  G06N3/08 ,  G06N5/01 ,  G06N20/10 ,  G06V10/764 ,  G06V10/771 ,  G06V10/806 ,  G06V10/82 ,  G06V20/10 ,  G06V20/17 ,  G06V20/188 ,  B64U2101/30 ,  G06T2207/30128 ,  G06T2207/30188 ,  G06V20/68

摘要： A computer system obtains, in electronic format, a training dataset. The training dataset comprises a plurality of training images from a plurality of agricultural plots. Each training image is from a respective agricultural plot in the plurality of agricultural plots and comprises at least one identified fruit. The computer system determines, for each respective fruit in each respective training image in the plurality of training images, a corresponding contour. The computer system trains an untrained or partially trained computational model using at least the corresponding contour for each respective fruit in each respective training image in the plurality of training images, thereby obtaining a first trained computational model that is configured to identify fruit in agricultural plot images.