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    FIELD SEGMENTATION AND CLASSIFICATION
    2.
    发明申请
    FIELD SEGMENTATION AND CLASSIFICATION 有权

    公开(公告)号：US20210286998A1

    公开(公告)日：2021-09-16

    申请号：US16817937

    申请日：2020-03-13

    Applicant: X Development LLC

    Inventor： Alex Wilson ,  Christopher Edward Bacon ,  Jie Yang ,  Cheng-en Guo

    IPC: G06K9/00 ,  G06K9/62 ,  G06T17/05 ,  G06N3/04 ,  G06N20/00

    Abstract: Implementations relate to improved crop field segmentation and crop classification in which boundaries between crop fields are more accurately detected. In various implementations, high-elevation image(s) that capture an area containing multiple demarcated fields may be applied as input across one or more machine learning models to generate a boundary enhancement channel. Each pixel of the boundary enhancement channel may be spatially aligned with a corresponding pixel of the one or more high-elevation images. Moreover, each pixel of the boundary enhancement channel may be classified with a unit angle to a reference location of the field of the multiple demarcated fields that contains the pixel. Based on the boundary enhancement channel, pixel-wise field memberships of pixels of the one or more high-elevation images in the multiple demarcated fields may be determined.

    DETECTION AND REPLACEMENT OF TRANSIENT OBSTRUCTIONS FROM HIGH ELEVATION DIGITAL IMAGES
    3.
    发明申请
    DETECTION AND REPLACEMENT OF TRANSIENT OBSTRUCTIONS FROM HIGH ELEVATION DIGITAL IMAGES 有权

    公开(公告)号：US20210082133A1

    公开(公告)日：2021-03-18

    申请号：US17109433

    申请日：2020-12-02

    Applicant: X Development LLC

    Inventor： Jie Yang ,  Cheng-en Guo ,  Elliott Grant

    IPC: G06T7/33 ,  G06K9/00 ,  G06K9/62

    Abstract: Implementations relate to detecting/replacing transient obstructions from high-elevation digital images. A digital image of a geographic area includes pixels that align spatially with respective geographic units of the geographic area. Analysis of the digital image may uncover obscured pixel(s) that align spatially with geographic unit(s) of the geographic area that are obscured by transient obstruction(s). Domain fingerprint(s) of the obscured geographic unit(s) may be determined across pixels of a corpus of digital images that align spatially with the one or more obscured geographic units. Unobscured pixel(s) of the same/different digital image may be identified that align spatially with unobscured geographic unit(s) of the geographic area. The unobscured geographic unit(s) also may have domain fingerprint(s) that match the domain fingerprint(s) of the obscured geographic unit(s). Replacement pixel data may be calculated based on the unobscured pixels and used to generate a transient-obstruction-free version of the digital image.

    Edge-based crop yield prediction
    4.
    发明授权
    Edge-based crop yield prediction 有权

    公开(公告)号：US11508092B2

    公开(公告)日：2022-11-22

    申请号：US16715285

    申请日：2019-12-16

    Applicant: X Development LLC

    Inventor： Kathleen Watson ,  Jie Yang ,  Yueqi Li

    IPC: G06T7/00

    Abstract: Implementations are described herein for edge-based real time crop yield predictions made using sampled subsets of robotically-acquired vision data. In various implementations, one or more robots may be deployed amongst a plurality of plants in an area such as a field. Using one or more vision sensors of the one or more robots, a superset of high resolution images may be acquired that depict the plurality of plants. A subset of multiple high resolution images may then be sampled from the superset of high resolution images. Data indicative of the subset of high resolution images may be applied as input across a machine learning model, with or without additional data, to generate output indicative of a real time crop yield prediction.

    GENERATING A LOCAL MAPPING OF AN AGRICULTURAL FIELD FOR USE IN PERFORMANCE OF AGRICULTURAL OPERATION(S)
    5.
    发明申请
    GENERATING A LOCAL MAPPING OF AN AGRICULTURAL FIELD FOR USE IN PERFORMANCE OF AGRICULTURAL OPERATION(S) 有权

    公开(公告)号：US20220196433A1

    公开(公告)日：2022-06-23

    申请号：US17131098

    申请日：2020-12-22

    Applicant: X Development LLC

    Inventor： Alan Eneev ,  Jie Yang ,  Yueqi Li ,  Yujing Qian ,  Nanzhu Wang ,  Sicong Wang ,  Sergey Yaroshenko

    IPC: G01C21/00 ,  G06K9/00 ,  G05D1/02 ,  G01S19/42 ,  G05D1/00

    Abstract: Implementations are directed to assigning corresponding semantic identifiers to a plurality of rows of an agricultural field, generating a local mapping of the agricultural field that includes the plurality of rows of the agricultural field, and subsequently utilizing the local mapping in performance of one or more agricultural operations. In some implementations, the local mapping can be generated based on overhead vision data that captures at least a portion of the agricultural field. In these implementations, the local mapping can be generated based on GPS data associated with the portion of the agricultural field captured in the overhead vision data. In other implementations, the local mapping can be generated based on driving data generated during an episode of locomotion of a vehicle through the agricultural field. In these implementations, the local mapping can be generated based on GPS data associated with the vehicle traversing through the agricultural field.

    Crop type classification in images
    6.
    发明授权
    Crop type classification in images 有权

    公开(公告)号：US11321943B2

    公开(公告)日：2022-05-03

    申请号：US17162806

    申请日：2021-01-29

    Applicant: X Development LLC

    Inventor： Cheng-en Guo ,  Jie Yang ,  Elliott Grant

    IPC: G06V20/10 ,  G06N7/00 ,  G06N3/08 ,  G06N20/20 ,  G06T7/174 ,  G06K9/62 ,  G06V10/30 ,  G06V10/44 ,  G06V20/13 ,  G06Q50/02

    Abstract: In embodiments, obtaining a plurality of image sets associated with a geographical region and a time period, wherein each image set of the plurality of image sets comprises multi-spectral and time series images that depict a respective particular portion of the geographical region during the time period, and predicting one or more crop types growing in each of particular locations within the particular portion of the geographical region associated with an image set of the plurality of image sets. Determining a crop type classification for each of the particular locations based on the predicted one or more crop types for the respective particular locations, and generating a crop indicative image comprising at least one image of the multi-spectral and time series images of the image set overlaid with indications of the crop type classification determined for the respective particular locations.

    CROP TYPE CLASSIFICATION IN IMAGES
    9.
    发明申请
    CROP TYPE CLASSIFICATION IN IMAGES 审中-公开

    公开(公告)号：US20190228224A1

    公开(公告)日：2019-07-25

    申请号：US16218305

    申请日：2018-12-12

    Applicant: X Development LLC

    Inventor： Cheng-en Guo ,  Jie Yang ,  Elliott Grant

    IPC: G06K9/00 ,  G06N7/00 ,  G06N3/08 ,  G06T7/174 ,  G06N20/20

    Abstract: In embodiments, obtaining a plurality of image sets associated with a geographical region and a time period, wherein each image set of the plurality of image sets comprises multi-spectral and time series images that depict a respective particular portion of the geographical region during the time period, and predicting one or more crop types growing in each of particular locations within the particular portion of the geographical region associated with an image set of the plurality of image sets. Determining a crop type classification for each of the particular locations based on the predicted one or more crop types for the respective particular locations, and generating a crop indicative image comprising at least one image of the multi-spectral and time series images of the image set overlaid with indications of the crop type classification determined for the respective particular locations.

    ANALYZING DATA INFLUENCING CROP YIELD AND RECOMMENDING OPERATIONAL CHANGES
    10.
    发明申请
    ANALYZING DATA INFLUENCING CROP YIELD AND RECOMMENDING OPERATIONAL CHANGES 有权

    公开(公告)号：US20230140138A1

    公开(公告)日：2023-05-04

    申请号：US18089337

    申请日：2022-12-27

    Applicant: X Development LLC

    Inventor： Cheng-en Guo ,  Wilson Zhao ,  Jie Yang ,  Zhiqiang Yuan ,  Elliott Grant

    IPC: G06T3/40 ,  G06T7/00 ,  A01D41/127 ,  G06T5/50 ,  G06T7/143 ,  G06N3/08 ,  G06Q10/04 ,  G06Q50/02 ,  G06V20/10 ,  G06N3/047 ,  G06V10/82 ,  G06V20/13

    Abstract: Implementations relate to diagnosis of crop yield predictions and/or crop yields at the field- and pixel-level. In various implementations, a first temporal sequence of high-elevation digital images may be obtained that captures a geographic area over a given time interval through a crop cycle of a first type of crop. Ground truth operational data generated through the given time interval and that influences a final crop yield of the first geographic area after the crop cycle may also be obtained. Based on these data, a ground truth-based crop yield prediction may be generated for the first geographic area at the crop cycle's end. Recommended operational change(s) may be identified based on distinct hypothetical crop yield prediction(s) for the first geographic area. Each distinct hypothetical crop yield prediction may be generated based on hypothetical operational data that includes altered data point(s) of the ground truth operational data.

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