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Computer vision based pose detection of agricultural implements without a priori knowledge of their geometry and visual appearance

Many agricultural machines are equipped with an electro-hydraulic control system in order to adjust the implement pose (height and inclination) with respect to the soil. The state of the art pose control involves an estimation of the pose by the drag forces. Our new approach involves a computer vision system to enable the direct measurement of the implement pose. The implement and the soil behind the tractor are observed with a stereo camera mounted on the cab. Image segmentation is based on the optical flow and histograms in combination with our novel bias-free thresholding approach. The pose of the implement is obtained by statistical analysis with multidimensional histograms and a transformation into the appropriate parameter space. The pose detection is performed without a priori knowledge of the implement geometry and of its visual appearance. Our approach is demonstrated in a real-time image processing system applied exemplarily for ploughing with a tractor.