Mapping an agricultural scene with time traversal

Abstract

A method includes receiving, by the treatment system, during operation in an agricultural environment, one or more images comprising one or more agricultural objects in the agricultural environment, identifying, in real-time, one or more objects of interest from the one or more agricultural objects by analyzing the one or more images, wherein the analyzing results in a first object being identified as belonging to one or more target objects and a second object being identified as not belonging to the one or more target objects, logging one or more results of the identification of each of the one or more objects of interest and a corresponding treatment decision; and activating the treatment mechanism to treat the one or more target objects.

What is claimed is: 
     
         1 . A method of generating a digital environment within a geographic boundary, the method comprising:
 receiving, by an agricultural observation system performing a first pass in an agricultural environment, one or more sensor readings comprising one or more agricultural objects in the agricultural environment;   identifying the one or more agricultural objects including one or more objects of interest by analyzing the one or more sensor readings;   indexing the identified one or more agricultural objects and the one or more objects of interest in the agricultural environment; and   generating, based on the identified one or more agricultural objects, a first digital agricultural environment comprising one or more first digital assets representing the one or more agricultural objects in the agricultural environment.   
     
     
         2 . The method of  claim 1 , further comprising performing a subsequent pass by the agricultural observation system in the agricultural environment, identifying, in the subsequent pass, the one or more agricultural objects previously identified from the first pass, identifying, in the subsequent pass, one or more new agricultural objects, or a combination thereof. 
     
     
         3 . The method of  claim 2 , further comprising generating, based on the subsequent pass performed by the agricultural observation system and the identified one or more agricultural objects from the subsequent pass and identified one or more new agricultural objects, a second digital agricultural environment comprising one or more second digital assets representing the one or more agricultural objects, one or more new agricultural objects, or a combination thereof. 
     
     
         4 . The method of  claim 3 , wherein the first digital agricultural environment and the second digital agricultural environment map a same agricultural environment. 
     
     
         5 . The method of  claim 3 , wherein the second digital agricultural environment is an updated version of the first digital agricultural environment such that a plurality of the one or more second digital assets are digitally linked to the one or more first digital assets, each of the linked first and second digital assets representing a same agricultural object. 
     
     
         6 . The method of  claim 5 , further comprising identifying state changes associated with the one or more agricultural objects based on comparing the one or more second digital assets to the one or more first digital assets. 
     
     
         7 . The method of  claim 3 , further comprising identifying state changes associated with the one or more agricultural objects based on comparing the identified one or more agricultural objects that was from the first pass in the agricultural environment and the identified one or more agricultural objects that was identified from the subsequent pass in the agricultural environment. 
     
     
         8 . The method of  claim 3 , wherein the first digital agricultural environment and the second digital environment are accessible on a user interface. 
     
     
         9 . The method of  claim 8 , further comprising enabling a viewing of a state change of the one or more agricultural objects by displaying a change between the one or more first digital assets and the one or more second digital assets. 
     
     
         10 . The method of  claim 8 , further comprising enabling a viewing of a state change of the agricultural environment by displaying a change between the first digital agricultural environment and the second digital agricultural environment. 
     
     
         11 . The method of  claim 10 , wherein the state change can be visually displayed by a first heatmap of the first digital agricultural environment and a second heatmap of the second digital agricultural environment. 
     
     
         12 . The method of  claim 6 , further comprising generating and displaying a predicted future state of each of the one or more second digital assets based on analyzing one or more attributes of the state change. 
     
     
         13 . The method of  claim 12 , wherein the state change comprises changes in phenological stages of growth of plant objects. 
     
     
         14 . The method of  claim 12 , wherein the state change comprises changes in physical characteristics of a plant object including a future size, a future color, a future health, a future density, a future count, a future yield, or a combination thereof, of the plant object. 
     
     
         15 . The method of  claim 1 , further comprising displaying a view of a first digital asset of the one or more first digital assets on a user interface, wherein the view is a three dimensional view of a first agricultural object of the one or more agricultural objects. 
     
     
         16 . The method of  claim 15 , wherein the view of the first digital asset is generated, at least in part, by using a neural radiance fields (NERF) based on a plurality of the one or more sensor readings. 
     
     
         17 . The method of  claim 1 , wherein identifying the one or more agricultural objects comprises detecting a real-world location of the one or more agricultural objects in the agricultural environment and determining an object identity or classification of each of the one or more agricultural objects. 
     
     
         18 . The method of  claim 17 , wherein identifying the one or more agricultural objects and determining the real-world location of the one or more agricultural objects comprises performing dense simultaneous localization and mapping (SLAM) of the agricultural environment. 
     
     
         19 . The method of  claim 1 , wherein the one or more objects of interest are plant objects identified for treatment by an agricultural treatment system. 
     
     
         20 . An agricultural treatment system comprising one or more processors configured to implement a method comprising:
 receiving, by an agricultural observation system performing a first pass in an agricultural environment, one or more sensor readings comprising one or more agricultural objects in the agricultural environment;   identifying the one or more agricultural objects including one or more objects of interest by analyzing the one or more sensor readings;   indexing the identified one or more agricultural objects and the one or more objects of interest in the agricultural environment; and   generating, based on the identified one or more agricultural objects, a first digital agricultural environment comprising one or more first digital assets representing the one or more agricultural objects in the agricultural environment.