US Patent 11768498 Machine control through active ground terrain mapping

A pose detection sensor, of a mobile agricultural machine, generates, for various points along a route traveled by the mobile machine, signals indicative of a pose of the pose detection sensor. A point cloud is identified, based on the signals generated by the pose detection sensor, the point cloud including a set of points that are estimated to correspond to a surface of the ground over which the mobile machine travels. Elevation values are generated for each point in the point cloud. In some examples, a plane is calculated based on the points in the point cloud, the plane including predictive elevation values of the ground surface ahead of the mobile machine.