Patent Publication Number: US-2022236741-A1

Title: Visual overlays for providing perception of depth

Description:
TECHNICAL FIELD 
     The present disclosure relates generally to remote control operation of a machine and, for example, to remote control operation of a machine based on visual overlays providing the perception of depth. 
     BACKGROUND 
     A remote control operator may operate construction equipment without line-of-sight with respect to the construction equipment. In some instances (e.g., with respect to controlling a construction equipment such as a dozer or an excavator), the remote control operator may desire to have a good understanding of a terrain surrounding the construction equipment in order to control the construction equipment to perform a task in an efficient manner. In order to efficiently control the construction equipment (without line-of-sight with respect to the construction equipment), the remote control operator may rely on a video feed from a camera system on-board the construction equipment. 
     Typical camera systems (for remote control operations without line-of-sight) provide two dimensional (2D) images. The 2D images do not provide sufficient information (e.g., enough detail) to enable the remote control operator to gain a good understanding of the terrain surrounding the construction equipment. Typical camera systems are subject to limitations that prevent such camera systems from providing sufficient information to enable a good understanding of the terrain. The limitations may include limitations with respect to available network bandwidth associated with providing the video feed, limitations with respect to a frame rate associated with the 2D images, limitations with respect to latency associated with providing the video feed, limitations with respect to an inherent lack of information regarding depth in 2D images, limitations with respect to distortion of an image caused by a wide angle lens of such camera systems, and limitations with respect to the situational and/or spatial relationship between the remote machine and the terrain. 
     The lack of sufficient information to enable a good understanding of the terrain and/or the lack of information regarding depth may cause the construction equipment to operate inefficiently (e.g., inefficient use of components such as an engine, an implement, among other examples), may cause damage to the construction equipment (e.g., due to unascertained conditions of the terrain), may cause a task to be performed incorrectly by the construction equipment, among other examples. Therefore, relying on typical camera systems to operate the construction equipment (without line-of-sight with respect to the construction equipment) may waste computing resources, network resources, and other resources associated with inefficient operation of the construction equipment, associated with repairing the construction equipment, associated with remedying a task that was performed incorrectly by the construction equipment, among other examples. 
     Japanese Patent Application No. JP2003239328 (the &#39;328 publication) discloses a measuring device of an earthwork construction surface capable of easily seizing a quantity of required sediment at ground leveling work by precisely measuring construction accuracy of a ground leveling surface in real time. The &#39;328 publication discloses that the measuring device has Global Positioning System (GPS) antennas for detecting a position and a longitudinal directional inclination of heavy machinery, a roller inclination sensor for detecting a roller attitude of the heavy machinery, and an on-vehicle control part for inputting a signal from the GPS antennas and the roller inclination sensor. 
     While the &#39;328 publication discloses measuring construction accuracy of a ground leveling surface in real time, the &#39;328 publication does not disclose that the measuring device provides information to enable a good understanding of a terrain surrounding the heavy machinery and/or information regarding depth of the terrain for remote control operation of the heavy machinery. 
     The visual overlays of the present disclosure solve one or more of the problems set forth above and/or other problems in the art. 
     SUMMARY 
     In some implementations, a construction vehicle includes a stereo camera configured to obtain three-dimensional image data of an environment that includes a ground surface on which the construction vehicle is located; and a controller configured to: determine, based on the three-dimensional image data, depth information indicating distances from the construction vehicle to different areas of the ground surface; generate, based on the depth information, an overlay associated with a depth range, the overlay being generated to indicate a range of distances from the construction vehicle; and provide the overlay, for display, with a video feed associated with the three-dimensional image data. 
     In some implementations, a method performed by a device includes determining, based on image data of an environment that includes a ground surface, depth information indicating distances from a vehicle to different areas of the ground surface; generating, based on the depth information, an overlay to indicate a range of distances from the vehicle, the range of distances being associated with an area of the ground surface; and providing, for display, a video feed including the image data with the overlay on the ground surface, the overlay providing the perception of depth, with respect to the area, during an operation of the vehicle. 
     In some implementations, a work vehicle includes a stereo camera that provides image data of an environment that includes a ground surface on which the work vehicle is located; a bucket; and a controller configured to: determine a first position of the bucket with respect to the work vehicle, the bucket being raised above the ground surface; determine, based on the first position, an estimated first ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface; generate an overlay based on a first distance, on the ground surface, from the work vehicle to the estimated first ground engagement location; provide the overlay for display with a video feed associated with the image data, the overlay being provided on the ground surface and indicating a distance, in a plane parallel to the ground surface, from the work vehicle to the bucket; detect a movement of the bucket from the first position to a second position; determine, based on the second position, an estimated second ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface; and adjust the overlay, provided for display, based on a second distance from the work vehicle to the estimated second ground engagement location, the overlay, after adjusting the overlay, indicating a change in the distance from the work vehicle to the bucket based on the movement of the bucket. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a diagram of an example implementation described herein. 
         FIG. 2  is a diagram of an example system described herein. 
         FIG. 3  is a diagram of an example implementation described herein. 
         FIG. 4  is a diagram of an example implementation described herein. 
         FIG. 5  is a diagram of an example implementation described herein. 
         FIG. 6  is a diagram of an example implementation described herein. 
         FIG. 7  is a flowchart of an example process relating to providing visual overlays for perception of depth. 
         FIG. 8  is a flowchart of an example process relating to providing visual overlays for perception of depth. 
     
    
    
     DETAILED DESCRIPTION 
     This disclosure relates to overlays (e.g., bands) that are provided with a video feed (e.g., in real time or near real time) of an environment that includes a ground surface on which a machine is located. The overlays may appear to lay over the ground surface in the video feed. The overlays may provide an indication of depth with respect to different areas of the ground surface and/or provide an indication of one or more other characteristics of the different areas of the ground surface, such as elevation. In other words, the overlays may augment the video feed into a combined, streaming image to provide an understanding of a terrain surrounding the machine during a remote control operation of the machine (without line-of-sight with respect to the machine). 
     The term “machine” may refer to a machine that performs an operation associated with an industry such as, for example, mining, construction, farming, transportation, or another industry. Moreover, one or more implements may be connected to the machine. As an example, a machine may include a construction vehicle, a work vehicle, or a similar vehicle associated with the industries described above. 
       FIG. 1  is a diagram of an example implementation  100  described herein. As shown in  FIG. 1 , the example implementation  100  includes a machine  105 . Machine  105  is embodied as an earth moving machine, such as an excavator. Alternatively, the machine  105  may be another type of machine, such as a dozer. 
     As shown in  FIG. 1 , machine  105  includes ground engaging members  110 , a machine body  115 , an operator cabin  120 , and a swivel element  125 . Ground engaging members  110  may include tracks (as shown in  FIG. 1 ), wheels, rollers, and/or the like, for propelling machine  105 . Ground engaging members  110  are mounted on machine body  115  and are driven by one or more engines and drive trains (not shown). Machine body  115  is mounted on a rotating frame (not shown). Operator cabin  120  is supported by machine body  115  and the rotating frame. Operator cabin  120  includes an integrated display (not shown) and operator controls  124 , such as, for example, integrated joystick. Operator controls  124  may include one or more input components. 
     For an autonomous machine, operator controls  124  may not be designed for use by an operator and, rather, may be designed to operate independently from an operator. In this case, for example, operator controls  124  may include one or more input components that provide an input signal for use by another component without any operator input. Swivel element  125  may include one or more components that enable the rotating frame (and machine body  115 ) to rotate (or swivel). For example, swivel element  125  may enable the rotating frame (and machine body  115 ) to rotate (or swivel) with respect to ground engaging members  110 . 
     As shown in  FIG. 1 , machine  105  includes a boom  130 , a stick  135 , and a machine work tool  140 . Boom  130  is pivotally mounted at a proximal end of machine body  115 , and is articulated relative to machine body  115  by one or more fluid actuation cylinders (e.g., hydraulic or pneumatic cylinders), electric motors, and/or other electro-mechanical components. Stick  135  is pivotally mounted at a distal end of boom  130  and is articulated relative to boom  130  by the one or more fluid actuation cylinders, electric motors, and/or other electro-mechanical components. Machine work tool  140  is mounted at a distal end of stick  135  and may be articulated relative to stick  135  by the one or more fluid actuation cylinders, electric motors, and/or other electro-mechanical components. Machine work tool  140  may be a bucket (as shown in  FIG. 1 ) or another type of tool that may be mounted on stick  135 . 
     As shown in  FIG. 1 , machine  105  includes a controller  145  (e.g., an electronic control module (ECM)), one or more inertial measurement units (IMUs)  150  (referred to herein individually as “IMU  150 ,” and collectively referred to as “IMUs  150 ”), one or more monocular cameras  155  (referred to herein individually as “monocular camera  155 ,” and collectively referred to as “monocular cameras  155 ”), and a stereo camera  160 . Controller  145  may control and/or monitor operations of machine  105 . For example, controller  145  may control and/or monitor the operations of machine  105  based on signals from operator controls  124 , signals from IMUs  150 , signals from one or more monocular cameras  155 , signals from stereo camera  160 , and/or signals from remote control device  170 . 
     As shown in  FIG. 1 , IMUs  150  are installed at different positions on components or portions of machine  105 , such as, for example, on machine body  115 , boom  130 , stick  135 , and machine work tool  140 . An IMU  150  includes one or more devices that are capable of receiving, generating, storing, processing, and/or providing signals indicating a position and orientation of a component, of machine  105 , on which the IMU  150  is installed. For example, IMU  150  may include one or more accelerometers and/or one or more gyroscopes. The one or more accelerometers and/or the one or more gyroscopes generate and provide signals that can be used to determine a position and orientation of the IMU  150  relative to a frame of reference and, accordingly, a position and orientation of the component. While the example discussed herein refers to IMUs  150 , the present disclosure is applicable to using one or more other types of sensor devices that may be used to determine a position and orientation of a component of machine  105 . 
     Monocular camera  155  may include one or more devices that are capable of obtaining and providing image data (e.g., two-dimensional (2D) image data) of an environment that includes a ground surface on which the machine  105  is located. The image data may be included in a video feed of the environment. Stereo camera  160  may include two or more devices that are capable of obtaining and providing image data (e.g., three-dimensional (3D) image data) of the environment. For example, the image data (of stereo camera  160 ) may provide depth information indicating distances from machine  105  to different areas of the ground surface. The image data (of stereo camera  160 ) may be included in a video feed of the environment. While the example discussed herein refers to stereo camera  160 , the present disclosure is applicable to using one or more other types of devices that may provide the depth information (e.g., that are capable of capturing an array of depth measurements), such as a light detection and ranging (LIDAR) device or other sensor devices capable of capturing an array of depth measurements. 
       FIG. 1  shows a single monocular camera  155  and a single stereo camera  160  as being included with machine  105 . In practice, machine  105  may include one or more additional monocular cameras  155  and/or one or more additional stereo cameras  160 . 
     As further shown in  FIG. 1 , the example implementation  100  includes a remote control device  170 . Remote control device  170  may include one or more devices that are configured to be used for a remote control operation of machine  105  (e.g., a remote control operation without line-of-sight with respect to machine  105 ). For example, remote control device  170  may include one or more displays, one or more operator controls (similar to operator controls  124 ), one or more controllers (similar to controller  145 ), among other examples. 
     Remote control device  170  may display, via the one or more displays, the video feed (including the image data of one or more monocular cameras  155 ) and/or the video feed (including the image data of stereo camera  160 ). In some examples, remote control device  170  may include one or more input components (e.g., a keyboard, a microphone, joysticks, buttons, pedals, among other examples) that are used to provide input regarding the video feed (including the image data of one or more monocular cameras  155 ) and/or the video feed (including the image data of stereo camera  160 ). 
     As indicated above,  FIG. 1  is provided as an example. Other examples may differ from what was described in connection with  FIG. 1 . 
       FIG. 2  is a diagram of an example system  200  described herein. As shown in  FIG. 2 , system  200  includes controller  145 , IMUS  150 , stereo camera  160 , and remote control device  170 . In some examples, controller  145  may be included in machine  105 . Alternatively, controller  145  may be included in remote control device  170 . Alternatively, controller  145  may be included in a device different than the remote control device  170  (hereinafter referred to as “controller associated device”). For instance, controller  145  may be part of a back office system. 
     Controller  145  may include one or more processors  210  (referred to herein individually as “processor  210 ,” and collectively as “processors  210 ”), and one or more memories  220  (referred to herein individually as “memory  220 ,” and collectively as “memories  220 ”). A processor  210  is implemented in hardware, firmware, and/or a combination of hardware and software. Processor  210  includes a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DSP), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), and/or another type of processing component. A processor  210  may be capable of being programmed to perform a function. 
     Memory  220  includes a random-access memory (RAM), a read only memory (ROM), and/or another type of dynamic or static storage device (e.g., a flash memory, a magnetic memory, and/or an optical memory) that stores information and/or instructions for use by a processor  210  to perform a function. For example, when performing the function, controller  145  may obtain data from stereo camera  160  (e.g., image data). Controller  145  may generate overlays based on depth (e.g., determined using the data) and/or based on a position and orientation of machine  105 . In some examples, the overlays may include semitransparent bands. The semitransparent bands may be horizontal bands with respect to a traveling direction of machine  105 . Controller  145  may provide, to remote control device  170 , a video feed including the data and the overlays to facilitate a remote control operation of machine  105 . Additionally, or alternatively, controller  145  may generate overlays based on a position and orientation of machine work tool  140 . 
     IMUs  150  may include one or more first IMUs  150  and one or more second IMUs  150 . The one or more first IMUs  150  may sense a position and orientation of machine work tool  140  and may generate tool position data that indicates the position and orientation of machine work tool  140 . The one or more first IMUs may be located on machine work tool  140  and/or located on boom  130  and/or stick  135 . The one or more second IMUs  150  may sense a position and orientation of machine body  115  and may generate machine position data that indicates the position and orientation of machine body  115 . The machine position data may be used to determine whether machine  105  is located on a sloped surface. The one or more second IMUs may be located on machine body  115 . 
     IMUs  150  may provide the tool position data and/or the machine position data to controller  145  periodically (e.g., every thirty seconds, every minute, every five minutes, among other examples). Additionally, or alternatively, IMUs  150  may provide the tool position data and/or the machine position data to controller  145  based on a triggering event (e.g., a request from controller  145 , a request from remote control device  170 , detecting a movement of machine work tool  140 , detecting a movement of machine body  115 , among other examples). 
     Stereo camera  160  may obtain data of an environment that includes a terrain surrounding machine  105  and includes a ground surface on which machine  105  is located. As an example, stereo camera  160  may obtain image data of the environment (e.g., images of the environment). In some instances, the image data may include 3D image data of the environment. Stereo camera  160  may provide the data to controller  145  periodically (e.g., every one hundredth second, every one thousandth second, among other examples). Additionally, or alternatively, stereo camera  160  may provide the data to controller  145  based on a triggering event (e.g., a request from controller  145 ). 
     Remote control device  170  may receive the video feed with the overlays from controller  145  and display the video feed on a display of remote control device  170 . The overlays may provide the perception of depth (with respect to different areas of the ground surface) and/or provide an indication of a ground engagement location of machine work tool  140  during a remote control operation of machine  105  using remote control device  170  and/or an indication of a height of the terrain (e.g., a height of the ground surface). The ground engagement location may indicate a location at which machine work tool  140  is to engage the ground surface when machine work tool  140  is lowered to the ground surface from its current above-the-ground position. 
     The overlays, included in the video feed, may facilitate a remote control operation of machine  105  by remote control device  170 . Remote control device  170  may provide (e.g., using the one or more input components) visual characteristics information identifying visual characteristics of the overlays. Remote control device  170  may provide the visual characteristics information to controller  145  to cause controller  145  to adjust the visual characteristics of the overlays, as explained in more detail below. 
     In some implementations, stereo camera  160  may provide the data to controller  145  in a manner similar to the manner described above. For example, assume that stereo camera  160  has received a request from controller  145  for the data. Stereo camera  160  may provide the data to controller  145  based on receiving the request. Controller  145  may receive the data from stereo camera  160  and process the data. In some examples, the data may include image data of images (of the environment) obtained by stereo camera  160 . In this regard, controller  145  may generate a disparity map based on the images (e.g., based on the image data of the images). The disparity map may include information indicating a difference (e.g., a pixel difference) between the images, an array of depth and/or 3D values (e.g., when controller  145  receives data from other sensor devices capable of capturing an array of depth measurements), among other examples of information that provides an indication of depth. Controller  145  may generate the disparity map using one or more data processing techniques (e.g., one or more data processing techniques for generating disparity maps). 
     Controller  145  may determine, based on the image data of the disparity map, depth information indicating distances from machine  105  to different areas of the ground surface. For example, based on the image data of the disparity map, controller  145  may determine the distances from a front portion of machine  105  to the different areas of the ground surface. 
     In some examples, controller  145  may perform image processing (e.g., using one or more image processing techniques) on the image data of the disparity map. For example, controller  145  may interpolate data in one or more portions of the disparity map. Additionally, or alternatively, controller  145  may perform filtering on the image data (e.g., perform the filtering on the disparity map) to reduce an amount of noise (e.g., outlier data) in the disparity map and to enhance a resolution of the disparity map (e.g., enhance a measure of smoothness of the disparity map). By reducing the amount of noise and enhancing the resolution of the disparity map, controller  145  may improve an amount of useful information provided to remote control device  170  to facilitate the remote control operation of machine  105 . Controller  145  may perform filtering using one or more image filtering techniques such as spatial noise reduction filtering, temporal/time filtering, among other examples. 
     Controller  145  may generate the overlays based on the depth information. In some implementations, controller  145  may generate the overlays based on the depth information and based on range information identifying a plurality of ranges of distances from machine  105 . The plurality of ranges of distances may include a first range of distances from machine  105 , a second range of distances from machine  105 , and so on. In some implementations, a distance between a highest value and a lowest value, of two or more of the plurality of ranges of distances, may be the same. Controller  145  may be preconfigured with the range information (e.g., the range information may be stored in one or more memories  220 ), may receive the range information from an input component of the controller associated device, may receive the range information from remote control device  170 , and/or may receive the range information from an input component of machine  105 . 
     As part of generating the overlays, controller  145  may identify different portions of the disparity map (e.g., different areas of the ground surface) associated with the plurality of ranges based on the depth information. For example, controller  145  may identify a first area (of the ground surface) associated with the first range of distances based on the depth information. For instance, controller  145  may determine a distance from machine  105  to the first area based on the depth information and determine that the distance (from machine  105  to the first area) corresponds to (or is included in) the first range of distances. 
     In some examples, controller  145  may determine the distance from machine  105  to the first area (or to a point in the first area) based on a mathematical combination of a lens distance between a first lens and a second lens of stereo camera  160 , a focal length of stereo camera  160 , and a disparity value of pixels depicting the first area (e.g., a disparity of pixels between a first image of the first lens and a second image of the second lens). For example, controller  145  may determine the distance from machine  105  to the first area as: 
         D= 1* f/d    
     where D is the distance from machine  105  to the first area, l is the lens distance, f is the focal length, and d is the disparity value. 
     The above formula is merely provided as an example. Other examples may be used to determine distances such as projective geometry, disparity and/or depth that be used to determine horizontal and vertical distances relative to stereo camera  160  and machine  105 . Controller  145  may obtain information identifying the lens distance and the focal length from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . Controller  145  may determine the disparity value by analyzing (e.g., using one or more computer vision techniques) the first image of the first lens and the second image of the second lens to determine a difference between pixels in the first image and corresponding pixels in the second image. For example, controller  145  may determine the disparity value by determining (based on analyzing the first image and the second image) a shift (between the first image and the second image) of the first area depicted by pixels of the first image and corresponding pixels of the second image. 
     For example, assume that the first lens is a left lens and the second lens is a right lens. Controller  145  may determine a shift of the first area to the left in the second image and/or determine a shift of the first area to the right in the first image. In some instances, controller  145  may identify the pixels in the first image and the corresponding pixels in the second image using one or more stereo matching algorithms. Controller  145  may identify a second area of the ground surface associated with the second range of distances based on the depth information in a similar manner. 
     Controller  145  may generate the overlays to indicate the plurality of ranges of distances on the disparity map. For example, controller  145  may generate a first overlay in the first area to indicate the first range of distances, generate a second overlay in the second area to indicate the second range of distances, and so on. The overlays may include semitransparent bands that are horizontal with respect to a traveling direction of machine  105 . The overlays may appear to lay over the ground surface at the different areas associated with the plurality of ranges of distances. When generating the overlays, controller  145  may modify portions of the disparity map (e.g., portions of the image data of the disparity map) corresponding to the plurality of ranges of distances. For example, controller  145  may generate the overlays by modifying pixels, of the image data, corresponding to the different areas associated with the plurality of ranges of distances. 
     For instance, controller  145  may modify the pixels by causing a shade of a color of the pixels to be lightened, modify the pixels by changing the color of the pixels to a particular color, modify the pixels to generate a graphical pattern, and/or may modify the pixels to generate a graphical design. In some examples, the overlays may indicate the plurality ranges of distances using same graphical information (e.g., a same shade, a same color, a same graphical pattern, and a same graphical design). Alternatively, the overlays may indicate the plurality ranges of distances using different graphical information. For example, the first overlay may indicate the first range of distances using first graphical information, the second overlay may indicate the second range of distances using second graphical information, and so on. 
     Controller  145  may determine the graphical information associated with the overlays. In some instances, controller  145  may be preconfigured with information identifying graphical information associated with the overlays. Alternatively, controller  145  may receive the graphical information from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . 
     Controller  145  may generate outlines, for the overlays, that visually distinguish the overlays from the ground surface. For example, controller  145  may generate an outline, for the first overlay, that visually distinguishes the first overlay from the ground surface, generate an outline, for the second overlay, that visually distinguishes the second overlay from the ground surface, and so on. Controller  145  may generate the outlines by modifying pixels that form the outlines. For instance, controller  145  may cause a color of the pixels to be darkened, cause a shade of the pixels to be darkened, among other examples. These outlines might also improve general viewability and ease of use regarding the final style of the overlays. 
     The first overlay and the outline for the first overlay may match a topography of the first area of the ground surface (e.g., a contour of the first area of the ground surface), the second overlay and the outline for the second overlay may match a topography of the second area of the ground surface (e.g., a contour of the second area of the ground surface), and so on. In some instances, controller  145  may generate the outlines using one or more object contour recognition algorithms. As an example, controller  145  may analyze the disparity map to identify edges of the first area (e.g., edges of items or objects forming a boundary of the first area) in the first image and in the disparity map. Controller  145  may identify pixels in the first image for which corresponding pixels are identified in the disparity map. Controller  145  may identify pixels (e.g., of the pixels in the first image) that form ends of an edge and may cause the ends to be connected (e.g., by adding pixels if the ends are not connected). The edges may form the outlines. 
     The overlays may provide an indication of a topography of the different areas of the ground surface. By providing the indication of the topography, the overlays may provide a good understanding of a topography of the ground surface and, therefore, facilitate an operation of machine  105  on the ground surface (e.g., operating machine  105  to avoid holes and/or uneven surfaces of the ground surface; adjusting an operation of machine  105  in light of the holes and/or uneven surfaces; among other examples). 
     In some examples, controller  145  may cause the overlays to be separated by a same distance based on distance information identifying a distance between the overlays. Controller  145  may be preconfigured with the distance information and/or may receive the distance information from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . 
     In some implementations, controller  145  may perform additional image processing on the image data of the disparity map after generating the overlays. For example, controller  145  may perform filtering on the image data to ensure that a width of an overlay satisfies a width threshold. For example, controller  145  may determine whether a width of a particular overlay satisfies the width threshold and remove the particular overlay when the width does not satisfy the width threshold. Controller  145  may be preconfigured with the width threshold and/or may receive the width threshold from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . 
     Additionally, or alternatively, to performing the filtering, controller  145  may determine a measure of confidence associated with the depth information of one or more portions of the overlays and adjust a measure of transparency of the one or more portions based on the measure of confidence. For example, controller  145  may determine whether a measure of confidence (associated with the depth information of a portion of an overlay) satisfies a confidence threshold and may modify a measure of transparency of the portion of the overlay when the measure of confidence does not satisfy the confidence threshold. Controller  145  may be preconfigured with the confidence threshold and/or may receive the confidence threshold from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . 
     As an example with respect to the measure of confidence, controller  145  may determine that a distance from machine  105  to an area (of the environment), corresponding to the portion, cannot be sufficiently determined. Controller  145  may determine that a measure of confidence (associated with the depth information of the portion) does not satisfy the confidence threshold. Accordingly, controller  145  may cause a portion of the image data, corresponding to the portion, to be nontransparent. In some implementations, the overlay may become increasingly transparent in portions where the measure of confidence is decreasing. 
     In some implementations, controller  145  may determine elevations associated with different portions of the different areas corresponding to the plurality of ranges. For instance, controller  145  may determine a first elevation of a first portion of the first area with respect to a plane associated with machine  105 , determine a second elevation of a second portion of the first area with respect to the plane, and so on. The first portion may correspond to one or more first pixels, the second portion correspond to one or more second pixels, and so on. The plane may be a plane parallel to the ground surface. Controller  145  may determine the elevations on a pixel-by-pixel basis. In some examples, controller  145  may determine the first elevation of the first portion (of the first area) based on the depth information associated with the first portion in the disparity map and based on a height of stereo camera  160  with respect to the plane (e.g., an elevation of stereo camera  160  with respect to the plane) and/or an angle of stereo camera  160 . 
     For instance, controller  145  may determine a distance from machine  105  to the first portion (e.g., based on a location of the first portion in the disparity map). Controller  145  may determine the height of stereo camera  160  based on camera height information identifying the height of stereo camera  160 . Controller  145  may be preconfigured with the camera height information (e.g., the camera height information may be stored in one or more memories  220 ), may receive the camera height information from the input component of the controller associated device, may receive the camera height information from remote control device  170 , and/or may receive the camera height information from the input component of machine  105 . Controller  145  may determine the angle of stereo camera  160  based on camera angle information identifying the angle of stereo camera  160 . Controller  145  may obtain the camera angle information in a manner similar to the manner described above with respect to the camera height information. 
     Controller  145  may use one or more image processing techniques to determine the first elevation (of the first portion with respect to the plane) based on a correlation between the distance (from machine  105  to the first portion) and the height of stereo camera  160  (e.g., the elevation of stereo camera  160  with respect to the plane) and/or the angle of stereo camera  160 . In some instances, controller  145  may determine the first elevation based on a mathematical combination of the distance (from machine  105  to the first portion) and the height of stereo camera  160 . Controller  145  may determine the second elevation of the second portion (of the first area), elevations of different portions of the second area, and so on, in a similar manner. 
     In some examples, controller  145  may use a digital elevation model to process the images in order to determine differences in the elevations associated with the different areas corresponding to the plurality of ranges. Additionally, or alternatively, controller  145  may use a digital surface model to process the images in order to determine differences in the elevations associated with the different areas. 
     Controller  145  may determine graphical information indicating the elevations associated with the different portions. For example, controller  145  may determine first graphical information indicating the first elevation of the first portion of the first area, second graphical information indicating the second elevation of the second portion of the first area, and so on. Controller  145  may determine elevations of different portions of the second area in a similar manner. Controller  145  may be preconfigured with the graphical information indicating the elevations. For example, one or more memories  220  may include a data structure that stores the first graphical information in association with information identifying the first elevation, stores the second graphical information in association with information identifying the second elevation, and so on. 
     The first graphical information may include one or more of a first color, a first graphical pattern, or a first graphical design. The second graphical information may include one or more of a second color, a second graphical pattern, or a second graphical design. In some examples, the second graphical information may be same as the first graphical information when the second elevation is same as the first elevation. Alternatively, the second graphical information may be different than the first graphical information when the second elevation is different than the first elevation. For example, the second color may be different than the first color, a second graphical pattern may be different than the first graphical pattern, or a second graphical design may be different than the first graphical design. The information identifying the first elevation may include a first range of elevations, a first grade of the ground surface, a first range of grades of the ground surface, among other examples. The information identifying the second elevation may include a second range of elevations, a second grade of the ground surface, a second range of grades of the ground surface, among other examples. 
     In addition, or in the alternative, to controller  145  being preconfigured with the graphical information indicating the elevations, controller  145  may receive the graphical information from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . Controller  145  may modify the portion of the image data associated with the elevations based on the graphical information indicating the elevations (stored in the data structure or received by controller  145 ). For example, controller  145  may modify the overlays (generated to indicate the plurality of ranges of distances on the disparity map) based on the graphical information. For instance, controller  145  may modify the one or more first pixels associated with the first portion to reflect the first graphical information, modify the one or more second pixels associated with the second portions to reflect the second graphical information, and so on. Controller  145  may modify pixels associated with different portions of the second area in a similar manner. 
     In some implementations, various aspects of the overlays (to be provided with the video feed) may be configured by controller  145  based on different factors. For example, a quantity of the overlays, a measure of transparency of the overlays, color information identifying a color of the overlays, and/or width information identifying a width of the overlays may be configured by controller  145  based on different factors. 
     As an example, controller  145  may determine a type of machine  105  based on type information identifying the type of machine  105 . In some instances, controller  145  may receive the type information from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 . Based on the type of machine  105 , controller  145  may determine overlay information that includes information identifying ranges of distances (associated with the type of machine  105 ) to be indicated in the video feed, information identifying a quantity of overlays to be provided (with the video feed) for the type of machine  105 , and/or information identifying visual characteristics of the overlays. 
     As an example, one or more memories  220  (of controller  145 ) may include a data structure that stores type information of different types of machines in association with corresponding overlay information (e.g., first type information in association with first overlay information, second type information in association with second overlay information, and so on). In this regard, controller  145  may perform a look-up of the data structure, using the type information (identifying the type of machine  105 ), to identify the overlay information associated with the type information. Controller  145  may generate the overlays based on the overlay information associated with the type of machine  105 . For example, the overlays may indicate the ranges of distances identified by the overlay information, a quantity of the overlays (generated by controller  145 ) may correspond to the quantity of overlays identified by the overlay information, and visual characteristics of the overlays may correspond to the visual characteristics identified by the visual characteristics information. 
     In addition, or in the alternative, to determining the overlay information based on the type of machine  105 , controller  145  may determine the overlay information based on a task associated with machine  105  (e.g., a task being performed or to be performed by machine  105 ). Controller  145  may determine the task associated with machine  105  based on task information identifying the task associated with machine  105  and may determine overlay information associated with the task using the task information in a manner similar to the manner described above. Controller  145  may generate the overlays based on the overlay information associated with the task associated machine  105  in a manner similar to the manner described above. 
     Continuing with respect to configuring the various aspects of the overlays, controller  145  may receive, from remote control device  170 , visual characteristics information identifying a visual characteristic of an overlay. The visual characteristics information may include transparency information identifying a measure of transparency of the overlay, color information identifying a color of the overlay (and its accompanying border), width information identifying a width of the overlay, and/or spacing information identifying spacing between overlays. Based on the visual characteristics information, controller  145  may adjust the measure of transparency of the overlay, adjust the color of the overlay, adjust the border of the overlay, and/or adjust the width of the overlay. 
     Continuing with respect to configuring the various aspects of the overlays, controller  145  may receive, from remote control device  170 , information identifying a quantity of overlays to be provided with the video feed. Controller  145  may generate the overlays based on the information identifying the quantity of overlays. For example, a quantity of the overlays generated by controller  145  may be based on the information identifying the quantity of overlays. Controller  145  may further receive, from remote control device  170 , information identifying a particular distance (e.g., a furthest distance) from machine  105  for a particular overlay. Controller  145  may generate the particular overlay based on the information identifying the particular distance. For example, the particular overlay may be provided at a particular area, of the ground surface, corresponding to the particular distance. 
     Additionally, or alternatively, to generating the overlays that indicate ranges of distances and elevations, controller  145  may generate an overlay that indicates a distance, in a plane parallel to the ground surface, from machine  105  to machine work tool  140 . In this regard, controller  145  may determine a first position of machine work tool  140  with respect to machine  105  (e.g., with respect to machine body  115 ). As an example, controller  145  may obtain the tool position data (e.g., from one or more IMUs  150 ) and may determine, based on the tool position data, coordinates of machine work tool  140  with respect to a coordinate system associated with machine  105  (e.g., coordinates with respect to a swing axis of machine  105 ). Controller  145  may determine the first position based on the coordinates of machine work tool  140 . 
     As another example, controller  145  may obtain, from stereo camera  160 , images that include machine work tool  140 . Controller  145  may determine tool depth information for machine work tool  140  (e.g., depth of machine work tool  140  with respect to stereo camera  160 ) based on the images, in a manner similar to the manner described above. Stereo camera  160  may obtain location information identifying a location of stereo camera  160  on machine  105  (e.g., from the input component of the controller associated device, from remote control device  170 , and/or from the input component of machine  105 ). Controller  145  may determine the first position of machine work tool  140  based on the tool depth information for machine work tool  140  and based on the location information. For example, controller  145  determine the first position based on a correlation between the depth of machine work tool  140  with respect to stereo camera  160  and the location of stereo camera  160  on machine  105 ). 
     Controller  145  may determine, based on the first position, an estimated first ground engagement location, on the ground surface, at which machine work tool  140  is to engage the ground surface when machine work tool  140  is lowered to the ground surface from its current above-the-ground position. For example, controller  145  may analyze the disparity map to determine a location on the ground surface (e.g., the estimated first ground engagement location) corresponding to the first position. For instance, controller  145  may determine a distance from machine  105  to the first position based on the coordinates of the swing axis and the coordinates of the first position (e.g., determine a difference between the longitudinal coordinate of the first position and the longitudinal coordinate of the swing axis). The distance from machine  105  to the first position may correspond to the distance (in the plane parallel to the ground surface) from machine  105  to machine work tool  140 . Controller  145  may analyze the disparity map (e.g., using one or more computer vision techniques) to determine a point, on the ground surface, located at a distance from machine  105  that corresponds to the distance from machine  105  to the first position. Controller  145  may determine such point to be the estimated first ground engagement location. 
     Controller  145  may generate an overlay (as described above) based on a distance, on the ground surface, from machine  105  to the estimated first ground engagement location. The distance from machine  105  to the estimated first ground engagement location may correspond to the distance (in the plane parallel to the ground surface) from machine  105  to machine work tool  140 . Accordingly, controller  145  may generate the overlay to indicate the distance, in the plane parallel to the ground surface, from machine  105  to machine work tool  140 . 
     The overlay may include a graphical representation of machine work tool  140 . For example, a shape of the overlay may correspond to a shape of machine work tool  140 . For instance, the shape of the overlay may be a rectangular shape, a square shape, a trapezoidal shape, a shape that follows an outline of the shape of machine work tool  140 , among other examples. A width of the graphical representation may be based on a width of machine work tool  140 . The overlay may be a semitransparent band that is vertical with respect to a traveling direction of machine  105 . In some instances, the overlay may simulate a shadow of machine work tool  140  (e.g., simulate a real shadow as if a light source was shining directly above machine work tool  140 ). 
     After generating the overlay, controller  145  may detect a movement of machine work tool  140  from the first position to a second position (e.g., as a result of boom  130  and/or stick  135  being extended or being retracted with respect to their current positions). For example, controller  145  may receive information indicating a movement of machine work tool  140  (e.g., from one or more IMUs  150 , from remote control device  170 , and/or from the controller associated device). Based on receiving the information indicating a movement of machine work tool  140 , controller  145  may determine the second position of machine work tool  140  in a manner similar to the manner described above with respect to determining the first position. Controller  145  may determine, based on the second position, an estimated second ground engagement location, on the ground surface, at which machine work tool  140  is to engage the ground surface when machine work tool  140  is lowered to the ground surface from its current above-the-ground position (in a manner similar to the manner described above with respect to determining the estimated first ground engagement location). Controller  145  may adjust the overlay based on a distance from the work vehicle to the estimated second ground engagement location. The overlay, after being adjusted, may indicate a change in the distance from machine  105  to machine work tool  140  based on the movement of machine work tool  140 . In some implementations, controller  145  may determine a height of machine work tool  140  (e.g., with respect to the plane associated with machine  105 ) based on data from one or more sensor devices of machine  105 . For example, controller  145  may determine the height of machine work tool  140  based on the tool position data from one or more IMUs  150 . Controller  145  may determine graphical information indicating the height of machine work tool  140  and modify the overlay based on the graphical information in a manner similar to the manner described above with respect to the graphical information of the different elevations. 
     Additionally, or alternatively, to generating the overlay that indicates the distance from machine  105  to machine work tool  140 , controller  145  may generate an overlay that indicates a swing path of machine work tool  140  when machine body  115 , of machine  105 , rotates while machine work tool  140  is in a particular position (e.g., the first position, the second position, and so on). Controller  145  may determine the particular position of machine work tool  140  in a manner similar to the manner described above. Controller  145  may determine a distance, in the plane parallel to the ground surface, from machine  105  to machine work tool  140  (e.g., distance from the swing axis of machine  105 ) when machine work tool  140  is at the particular position, in a manner similar to the manner described above. Controller  145  may generate the overlay to indicate the swing path (e.g., in a camera view of stereo camera  160 ) associated with the distance from machine  105  to machine work tool  140  (e.g., associated with the distance from the swing axis). Controller  145  may adjust the swing path as machine work tool  140  moves to different positions. 
     Additionally, or alternatively, to generating the overlay that indicates the swing path of machine work tool  140 , controller  145  may generate overlays to indicate different elevations when machine  105  is located on a sloped surface. For example, controller  145  may receive the machine position data from one or more IMUs  150  (e.g., located on machine body  115 ). Controller  145  may determine, based on the machine position data, that machine  105  is located on a sloped surface. Controller  145  may determine a horizontal plane relative to a direction of gravity, based on determining that machine  105  is located on the sloped surface. For example, controller  145  may determine the horizontal plane based on analyzing the disparity map and based the machine position data. The horizontal plane may be a reference plane. Controller  145  may further analyze the disparity map to identify a third area (of the ground surface) below the horizontal plane and a fourth area (of the ground surface) above the horizontal plane. 
     Controller  145  may determine an elevation of the third area with respect to the horizontal plane and an elevation of the fourth area with respect to the horizontal plane in a manner similar to the manner described above with respect to determining the different elevations. Controller  145  may determine graphical information for the areas in a manner similar to the manner described above. For instance, controller  145  may determine third graphical information indicating an elevation of the third area with respect to the horizontal plane, fourth graphical information indicating an elevation of the fourth area with respect to the horizontal plane, and fifth graphical information for a fifth area to indicate that the fifth area is on a plane associated with machine  105  (e.g., a plane on which machine  105  is located). Controller  145  may provide an overlay (with the third graphical information) to indicate the elevation of the third area with respect to the horizontal plane, another overlay (with the fourth graphical information) to indicate the elevation of the fourth area with respect to the horizontal plane, and so on. Controller  145  may perform similar actions when the reference plane is a plane parallel to the sloped surface. 
     Controller  145  may provide the overlays (described above) for display by a display of remote control device  170 . For example, controller  145  may provide a video feed (in real time or near real time) of the environment based on data received from stereo camera  160 . The video feed may include the image data (of the disparity map) with one or more of the overlays, as described below in connection with  FIGS. 3-7 . The overlays may be provided on the ground surface to facilitate an operation of machine  105  on the ground surface. For example, the overlays may facilitate a remote control operation of machine  105  on the ground surface. 
     In some instances, the video feed may include recommendations regarding an operation of machine  105  based on the overlays (e.g., a recommendation to move to a direction to avoid a possible obstacle, a recommendation to adjust an implement of machine  105 , among other examples). In some examples, controller  145  may receive, from remote control device  170 , display information indicating whether the overlays are to be provided for display with the video feed. Controller  145  may provide the overlays, for display with the video feed, when the display information indicates that the overlays are to be provided for display with the video feed. Controller  145  may remove one or more of the overlays from the video feed when the display information indicates that the one or more of the overlays are to be removed from the video feed. 
     For autonomous control of machine  105 , controller  145  may use the depth information, information regarding the elevations, and/or the machine position data (e.g., indicating that machine  105  is located on a sloped surface) to generate signals and provide the signals to different components of machine  105  for the purpose of autonomously controlling an operation of machine  105  (e.g., controlling an operation of machine  105  independently of an operator). For example, based on the depth information, the information regarding the elevations, and/or the machine position data, controller  145  may generate signals to autonomously control a speed of machine  105 , an acceleration of machine  105 , a traveling direction of machine  105 , a movement and/or a position of one or more implements of machine  105 , among other examples. 
     The number and arrangement of devices shown in  FIG. 2  are provided as an example. In practice, there may be additional devices, fewer devices, different devices, or differently arranged devices than those shown in  FIG. 2 . Furthermore, two or more devices shown in  FIG. 2  may be implemented within a single device, or a single device shown in  FIG. 2  may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) of system  200  may perform one or more functions described as being performed by another set of devices of system  200 . 
       FIG. 3  is a diagram of an example implementation  300  described herein. As shown in  FIG. 3 , example implementation  300  may include information provided on a display of remote control device  170 . For example, the display of remote control device  170  may display a video feed, in real time or near real time, of an environment that includes a ground surface on which machine  105  is located. The video feed may be generated based on image data obtained by stereo camera  160 . As shown in  FIG. 3 , the video feed includes overlay  310 , overlay  320 , and overlay  330  which appear to lay over the ground surface. Overlay  310 , overlay  320 , and overlay  330  may be generated in a manner similar to the manner described above with respect to generating overlays. 
     Overlay  310  may indicate a first range of distances from machine  105 . Overlay  320  may indicate a second range of distances from machine  105 . Overlay  330  may indicate a third range of distances from machine  105 . A distance between overlay  310  and overlay  320  may be the same as a distance between overlay  320  and overlay  330 . As shown in  FIG. 3 , a shape of overlay  310 , overlay  320 , and overlay  330  may indicate a topography of areas, of the ground surface, associated with overlay  310 , overlay  320 , and overlay  330 . For example, as shown in  FIG. 3 , overlay  330  may indicate what appears to be a mound of dirt in an area, of the ground surface, associated with overlay  330 . 
     As indicated above,  FIG. 3  is provided as an example. Other examples may differ from what was described in connection with  FIG. 3 . 
       FIG. 4  is a diagram of an example implementation  400  described herein. As shown in  FIG. 4 , example implementation  400  may include information provided on a display of remote control device  170 , as described above in connection with  FIG. 3 . As shown in  FIG. 4 , the video feed includes overlay  410 , overlay  420 , and overlay  430  which appear to lay over the ground surface. Overlay  410 , overlay  420 , and overlay  430  may be generated in a manner similar to the manner described above with respect to generating overlays. 
     Overlay  410  may indicate a first elevation with respect to a plane associated with machine  105 . Overlay  420  may indicate a second elevation with respect to the plane. Overlay  430  may indicate a third elevation with respect to the plane. As shown in  FIG. 4 , overlay  410  may be provided with first graphical information that indicates the first elevation, overlay  420  may be provided with second graphical information (different than the first graphical information) that indicates the second elevation, and overlay  430  may be provided with third graphical information (different than the first graphical information and the second graphical information) that indicates the third elevation. In other words, overlay  410 , overlay  420 , and overlay  430  may provide different visual characteristics to indicate the different elevations. A distance between overlay  410  and overlay  420  may be the same as a distance between overlay  420  and overlay  430 . 
     As indicated above,  FIG. 4  is provided as an example. Other examples may differ from what was described in connection with  FIG. 4 . 
       FIG. 5  is a diagram of an example implementation  500  described herein. As shown in  FIG. 5 , example implementation  500  may include examples of overlays that may be provided on a display of remote control device  170 . As shown in  FIG. 5 , the example overlays include overlay  510 , overlay  520 , and overlay  530 . Overlay  510 , overlay  520 , and overlay  530  may lay over the ground surface, as explained above in connection with  FIG. 3  and  FIG. 4 . Overlay  510 , overlay  520 , and overlay  530  may be generated in a manner similar to the manner described above with respect to generating overlays. 
     Overlay  510  may indicate a distance, in a plane parallel to the ground surface, from machine  105  to machine work tool  140 . Overlay  510  may be dynamically adjusted based on a movement of machine work tool  140  to different positions (e.g., as a result of boom  130  and/or stick  135  being extended or being retracted with respect to their current positions). 
     Overlay  520  may indicate a swing path of machine work tool  140  when machine body  115 , of machine  105 , rotates while machine work tool  140  is in a particular position. Overlay  520  may be dynamically adjusted based on a movement of machine work tool  140  to different positions. Overlay  530  may indicate the swing path of machine work tool  140  when boom  130  and stick  135  are fully extended. 
     As indicated above,  FIG. 5  is provided as an example. Other examples may differ from what was described in connection with  FIG. 5 . 
       FIG. 6  is a diagram of an example implementation  600  described herein. As shown in  FIG. 6 , example implementation  600  may include information provided on a display of remote control device  170 , as described above in connection with  FIG. 3 . As shown in  FIG. 6 , the video feed includes overlay  420 , overlay  430 , overlay  510 , and overlay  520  which appear to lay over the ground surface. Overlay  420 , overlay  430 , overlay  510 , and overlay  520  have been described above in connection with  FIG. 4  and  FIG. 5 . 
     As indicated above,  FIG. 6  is provided as an example. Other examples may differ from what was described in connection with  FIG. 6 . 
       FIG. 7  is a flowchart of an example process  700  relating to providing visual overlays for perception of depth. One or more process blocks of  FIG. 7  may be performed by a device (e.g., controller  145 ). As explained above, the device may be located on machine  105 , on remote control device  170 , or separate from machine  105  and remote control device  170 . One or more process blocks of  FIG. 7  may be performed by another device or a group of devices separate from or including the device, such as a stereo camera (e.g., stereo camera  160 ), a remote control device (e.g., remote control device  170 ), and/or one or more IMUs (e.g., one or more IMUs  150 ). 
     As shown in  FIG. 7 , process  700  may include determining, based on image data of an environment that includes a ground surface, depth information indicating distances from a vehicle to different areas of the ground surface (block  710 ). For example, the device may determine, based on image data of an environment that includes a ground surface, depth information indicating distances from a vehicle to different areas of the ground surface, as described above. 
     As further shown in  FIG. 7 , process  700  may include generating, based on the depth information, a first overlay to indicate a first range of distances from the vehicle and a second overlay to indicate a second range of distances from the vehicle, the first range of distances being associated with a first area of the ground surface and the second range of distances being associated with a second area of the ground surface (block  720 ). For example, the device may generate, based on the depth information, a first overlay to indicate a first range of distances from the vehicle and a second overlay to indicate a second range of distances from the vehicle, the first range of distances being associated with a first area of the ground surface and the second range of distances being associated with a second area of the ground surface, as described above. 
     Generating the first overlay and the second overlay comprises generating a first semitransparent band with an outline that visually distinguishes the first semitransparent band from the ground surface in the video feed, and generating a second semitransparent band with an outline that visually distinguishes the second semitransparent band from the ground surface in the video feed. 
     Process  700  includes determining a task associated with the vehicle, determining, based on the task associated with the vehicle, overlay information that includes at least one of the first range of distances, the second range of distances, or a quantity of overlays to be provided with the video feed, and wherein generating the first overlay and the second overlay includes generating the first overlay and the second overlay based on the overlay information. 
     Process  700  includes determining a type associated with the vehicle, determining, based on the type associated with the vehicle, overlay information that includes at least one of the first range of distances, the second range of distances, or a quantity of overlays to be provided with the video feed, and wherein generating the first overlay and the second overlay includes generating the first overlay and the second overlay based on the overlay information. 
     Process  700  includes receiving, from the remote control device, information identifying a quantity of overlays to be provided with the video feed, wherein generating the first overlay and the second overlay comprises generating the first overlay and the second overlay based on the information identifying the quantity of overlays, and wherein providing the video feed comprises providing the first overlay and the second overlay for display with the video feed based on the information identifying the quantity of overlays. 
     As further shown in  FIG. 7 , process  700  may include providing, to a remote control device for display, a video feed including the image data with the first overlay and the second overlay on the ground surface, the first overlay and the second overlay providing a perception of depth, with respect to the first area and the second area, during a remote control operation of the vehicle using the remote control device (block  730 ). For example, the device may provide, to a remote control device for display, a video feed including the image data with the first overlay and the second overlay on the ground surface, the first overlay and the second overlay providing a perception of depth, with respect to the first area and the second area, during a remote control operation of the vehicle using the remote control device, as described above. 
     The first overlay includes a band provided, with the video feed, on the ground surface. The method further comprises receiving, from the remote control device, visual characteristics information identifying a visual characteristic of the band, the visual characteristics information including at least one of transparency information identifying a measure of transparency of the band, color information identifying a color of the band, or width information identifying a width of the band, and adjusting, based on the visual characteristics information, at least one of the measure of transparency of the band, the color of the band, or the width of the band, wherein the second overlay has a different visual characteristic than the first overlay. 
     Process  700  includes receiving, from the remote control device, display information indicating whether the first overlay and the second overlay are to be provided for display with the video feed, wherein providing the video feed for display comprises providing, for display with the video feed, the first overlay and the second overlay when the display information indicates that the first overlay and the second overlay are to be provided for display with the video feed, and wherein the method further comprises removing the first overlay and the second overlay from the video feed when the display information indicates that the first overlay and the second overlay are to be removed from the video feed. 
     Although  FIG. 7  shows example blocks of process  700 , process  700  may include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in  FIG. 7 . Additionally, or alternatively, two or more of the blocks of process  700  may be performed in parallel. 
       FIG. 8  is a flowchart of an example process  800  relating to providing visual overlays for perception of depth. One or more process blocks of  FIG. 8  may be performed by a controller (e.g., controller  145 ). As explained above, the controller may be located on machine  105 , on remote control device  170 , or separate from machine  105  and remote control device  170 . One or more process blocks of  FIG. 8  may be performed by another device or a group of devices separate from or including the controller, such as a stereo camera (e.g., stereo camera  160 ), a remote control device (e.g., remote control device  170 ), and/or one or more IMUs (e.g., one or more IMUs  150 ). 
     As shown in  FIG. 8 , process  800  may include determining a first position of the bucket with respect to the work vehicle, the bucket being raised above the ground surface (block  810 ). For example, the controller may determine a first position of the bucket with respect to the work vehicle, the bucket being raised above the ground surface, as described above. 
     As further shown in  FIG. 8 , process  800  may include determining, based on the first position, an estimated first ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface (block  820 ). For example, the controller may determine, based on the first position, an estimated first ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface from its current above-the-ground position, as described above. 
     As further shown in  FIG. 8 , process  800  may include generating an overlay based on a first distance, on the ground surface, from the work vehicle to the estimated first ground engagement location (block  830 ). For example, the controller may generate an overlay based on a first distance, on the ground surface, from the work vehicle to the estimated first ground engagement location, as described above. 
     As further shown in  FIG. 8 , process  800  may include providing the overlay for display with a video feed associated with the image data, the overlay indicating a distance, in a plane parallel to the ground surface, from the work vehicle to the bucket (block  840 ). For example, the controller may provide the overlay for display with a video feed associated with the image data, the overlay indicating a distance, in a plane parallel to the ground surface, from the work vehicle to the bucket, as described above. 
     The overlay may include a graphical representation of the bucket. The width of the graphical representation may be based on a width of the bucket. 
     As further shown in  FIG. 8 , process  800  may include detecting a movement of the bucket from the first position to a second position (block  850 ). For example, the controller may detect a movement of the bucket from the first position to a second position, as described above. 
     As further shown in  FIG. 8 , process  800  may include determining, based on the second position, an estimated second ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface (block  860 ). For example, the controller may determine, based on the second position, an estimated second ground engagement location, on the ground surface, at which the bucket is to engage the ground surface when the bucket is lowered to the ground surface from its current above-the-ground position, as described above. 
     As further shown in  FIG. 8 , process  800  may include adjusting the overlay, provided for display, based on a second distance from the work vehicle to the estimated second ground engagement location, the overlay, after adjusting the overlay, indicating a change in the distance from the work vehicle to the bucket based on the movement of the bucket (block  970 ). For example, the controller may adjust the overlay, provided for display, based on a second distance from the work vehicle to the estimated second ground engagement location, the overlay, after adjusting the overlay, indicating a change in the distance from the work vehicle to the bucket based on the movement of the bucket, as described above. 
     The overlay may include a first overlay. The controller may be further configured to determine, based on the image data, depth information indicating distances from the work vehicle to different areas of the ground surface; generate, based on the depth information, a second overlay indicating a first range of distances from the work vehicle to a first area of the ground surface and a third overlay indicating a first range of distances from the work vehicle to a second area of the ground surface; and provide, for display with the video feed, the second overlay and the third overlay. 
     The overlay may be a first overlay. The controller may be further configured to generate a second overlay indicating a swing path of the bucket when a machine body, of the work vehicle, rotates while the bucket is in the first position, and provide, for display with the video feed, the second overlay with the first overlay, wherein the second overlay is provided, with the video feed, on the ground surface to indicate the swing path within a camera view of the stereo camera. 
     A width of the second overlay may be based on a size of the bucket. 
     Although  FIG. 8  shows example blocks of process  800 , process  800  may include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in  FIG. 8 . Additionally, or alternatively, two or more of the blocks of process  800  may be performed in parallel. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure is directed to overlays (e.g., bands) that are provided with a video feed of an environment that includes a ground surface on which a machine is located. The overlays may provide an indication of depth with respect to different areas of the ground surface and/or provide an indication of one or more other characteristics of the different areas of the ground surface, such as elevation. The disclosed overlays may prevent issues associated with typical camera systems used during remote control operations without line-of-sight. 
     Such camera systems provide 2D images. The 2D images do not provide sufficient information to enable a remote control operator to gain a good understanding of a terrain surrounding the machine and do not provide information regarding depth associated with the terrain. Therefore, relying on typical camera systems to operate the machine (without line-of-sight with respect to the machine) may consume computing resources, network resources, and other resources associated with inefficient operation of the machine, associated with repairing the machine, associated with remedying a task that was performed incorrectly by the machine, among other examples. 
     The overlays, of the present disclosure, are provided with the video feed of the environment to enable the remote control operator to gain a good understanding of the terrain surrounding the machine and to provide information regarding depth associated with the terrain. By providing the overlays with the video feed, the present disclosure may enable efficient operation of the machine (e.g., by avoiding having to reperform a task that was performed incorrectly, by efficiently using components of the machine, among other examples), may prevent damage to the machine, may cause a task to be performed correctly by the machine, among other examples. Accordingly, by providing the overlays with the video feed, the present disclosure may preserve computing resources, network resources, and other resources that would have otherwise been consumed by operating the machine inefficiently, repairing the machine, remedying a task that was performed incorrectly by the machine, among other examples.