Patent ID: 11944087
Assignee: DEERE & COMPANY
Field: Other special machines (Mechanical engineering)
Classification: CPC A  G | IPC A  G

Claim 12:
13. A method of controlling an agricultural machine that travels in a direction of travel and that has a movable boom mounted thereto, comprising:
detecting a position of the boom, relative to a set of optical calibration markers, as a first boom calibration position;
receiving a first calibration image of the optical calibration markers captured by an optical sensor mounted to the boom and positioned to capture images on a surface ahead of the boom in the direction of travel;
identifying the optical calibration markers in the first calibration image; and
generating a transform, corresponding to the optical sensor and the first boom calibration position, based on the calibration markers, the transform being operable to transform a position in the image of the surface to a geographic location on the surface.