Patent attributes
Implementations are described herein for localizing individual plants by aligning high-elevation images using invariant anchor points while disregarding variant feature points, such as deformable plants. High-elevation images that capture the plurality of plants at a resolution at which wind-triggered deformation of individual plants is perceptible between the high-elevation images may be obtained. First regions of the high-elevation images that depict the plurality of plants may be classified as variant features that are unusable as invariant anchor points. Second regions of the high-elevation images that are disjoint from the first set of regions may be classified as invariant anchor points. The high-elevation images may be aligned based on invariant anchor point(s) that are common among at least some of the high-elevation images. Based on the aligned high-elevation images, individual plant(s) may be localized within one of the high-elevation images for performance of one or more agricultural tasks.
