I wanted to steer the mower along the cut/uncut grass boundary, just like a human operator does. Image segmentation into cut/uncut grass would be the input to a

I wanted to steer the mower along the cut/uncut grass boundary, just like a human operator does. Image segmentation into cut/uncut grass would be the input to a steering control feedback loop - much like lane-following cruise control. I hoped by doing so I could produce respectable results without the need to spend $$$$$ on a dual-frequency RTK GPS & IMU system.