Patent Document ID: 10157334
Application ID: 15162281
Patent Status: 1

Claim One:
1. A vision processing system for an autonomous lawnmower comprising: an image capturing camera mounted on said lawnmower for capturing an image of terrain in front of said lawnmower; a processing arrangement connected to said camera for segmenting said image into neighborhoods; said processing arrangement further providing structure for calculating values for at least two image statistics for each of said neighborhoods, wherein said image statistics include at least one edge based texture statistic; said processing arrangement further providing structure for generating a binary representation of each image statistic for each neighborhood, wherein said binary representation is generated by comparing said image statistic value for said calculated image statistic values to a predetermined image statistic values for grass; said processing arrangement further providing structure for weighting each of said binary representations of each image statistic; said processing arrangement further providing structure for summing corresponding neighborhoods for all of said weighted binary representations of said image statistics; and said processing arrangement further providing structure for applying a binary threshold to each of said summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.