A device for detecting a crop related row from image, the device comprising: a memory including instructions; and processing circuitry that is configured by the instructions to: obtain an image that includes several rows, the several rows including crop rows and furrows; segment the image to produce a set of image segments , wherein the set of image segments are scanlines of the image, each scanline being a raster row of the image ; shift a filter across respective segments of the set of image segments to get a set of positions , wherein the filter includes a function that includes one or more cycles of a predictable pattern, and wherein, to shift the filter across respective segments of the set of image segments to get the set of positions, the processing circuitry is configured by the instructions to: evaluate the filter at a series of positions, starting the one or more cycles from a first position, until an extremum is found; and add a position corresponding to the extremum to the set of positions; fit a line to members of the set of positions; and communicate the line to a receiver. a memory including instructions; and processing circuitry that is configured by the instructions to: obtain an image that includes several rows, the several rows including crop rows and furrows; segment the image to produce a set of image segments , wherein the set of image segments are scanlines of the image, each scanline being a raster row of the image ; shift a filter across respective segments of the set of image segments to get a set of positions , wherein the filter includes a function that includes one or more cycles of a predictable pattern, and wherein, to shift the filter across respective segments of the set of image segments to get the set of positions, the processing circuitry is configured by the instructions to: evaluate the filter at a series of positions, starting the one or more cycles from a first position, until an extremum is found; and add a position corresponding to the extremum to the set of positions; fit a line to members of the set of positions; and communicate the line to a receiver. obtain an image that includes several rows, the several rows including crop rows and furrows; segment the image to produce a set of image segments , wherein the set of image segments are scanlines of the image, each scanline being a raster row of the image ; shift a filter across respective segments of the set of image segments to get a set of positions , wherein the filter includes a function that includes one or more cycles of a predictable pattern, and wherein, to shift the filter across respective segments of the set of image segments to get the set of positions, the processing circuitry is configured by the instructions to: evaluate the filter at a series of positions, starting the one or more cycles from a first position, until an extremum is found; and add a position corresponding to the extremum to the set of positions; evaluate the filter at a series of positions, starting the one or more cycles from a first position, until an extremum is found; and add a position corresponding to the extremum to the set of positions; fit a line to members of the set of positions; and communicate the line to a receiver. <EOS>