US Patent 11983934 Machine-learned obstruction detection in a farming machine

A control system of a farming machine is configured to identify obstruction in a field from image data of the field. The control system accesses an obstruction model configured to identify obstructions in a field from image data of the field. The obstruction model is generated by accessing image data of obstructions in a training field, each obstruction corresponding to a prescribed action occurring at a prescribed time, labelling the image data of the obstructions, and training the obstruction model based on the labelled image data. The control system captures image data of the field including an obstruction and inputs the image data into the obstruction model. Responsive to identifying the obstruction in the field, the control system modifies treatment instructions of the farming machine such that the farming machine performs a implements a farming objective while avoiding the obstruction in the field.