Patent ID: 8706341

Claim:
A method of steering an agricultural vehicle or implement, comprising the steps of: providing an image of a field that includes a specific structure; analysing the image of the field to obtain texture information, wherein at least during a learning or training step, the image of the field is divided at least in an upper part and a lower part, wherein the upper part is further away from the agricultural vehicle in a direction of travel than the lower part, wherein for the upper part, texture information of respective areas is obtained while the areas are in the upper part of the image and, from a subsequent image captured at a time when the agricultural vehicle or implement has advanced a distance corresponding to the height of the lower half of the image, the areas belonging to the specific structure and the areas belonging to the field beside the specific structure are determined; assigning to a plurality of areas of the image probability-values reflecting a likelihood that a respective area relates to the specific structure; assuming at least one geometric property of the specific structure; and establishing a most possible position parameter of the specific structure taking into account the probability-values and the assumed geometric property.