Mobile work machine with object detection and machine path visualization

1. A method of controlling a mobile work machine on a worksite, the method comprising:

receiving an indication of a detected object detected on the worksite;

determining a location of the detected object relative to the mobile work machine;

receiving an image of the worksite to a rear of the mobile work machine from an imaging sensor on the mobile work machine;

identifying a portion of the image that is correlated to the location of the detected object;

receiving a control input to control the mobile work machine to traverse the worksite in a rearward direction;

determining a projected rearward path of the mobile work machine based on the control input;

setting a visual characteristic for a visual path indicator based on a determination that at least a portion of the detected object is located in the projected rearward path; and

generating a control signal that controls a display device to display on the display device:

a representation of the image,

the visual path indicator, having the visual characteristic, that represents the projected rearward path on the image, and

a visual object indicator that represents the detected object and is displayed on the portion of the image.

2. The method of claim 1 , and further comprising:

performing the image processing to determine a window size for the window within which a closed blob is detected; and

identifying the detected object based on detection of the closed blob.

3. The method of claim 2 , and further comprising:

performing blob segmentation that separates the detected object from an image background; and

iteratively increasing the window size until the closed blob is detected.

4. The method of claim 1 , wherein setting a visual characteristic of the visual path indicator comprises selecting a display color of the visual path indicator.

5. The method of claim 1 , and further comprising:

changing the visual path indicator to a first color in response to determining that the detected object is not located in the projected rearward path; and

changing the visual path indicator to a second color, different from the first color, in response to determining that the detected object is located in the projected rearward path.

6. The method of claim 1 , wherein the mobile work machine comprises ground engaging traction elements, and further comprising:

determining a differential drive speed of a first ground engaging traction element relative to a second ground engaging traction element; and

determining the projected rearward path of the mobile wok machine based on the differential drive speed.

7. The method of claim 1 , wherein the mobile work machine comprises an articulated machine, and further comprising:

determining the projected rearward path of the mobile work machine based on an articulation angle of the articulated machine.

8. The method of claim 1 , wherein the indication of the detected object is received from a non-optical object detection Sensor on the mobile work machine.

9. The method of claim 8 , wherein the non-optical object detection sensor comprises a radio detection and ranging (RADAR) sensor.

10. The method of claim 1 , and further comprising:

evaluating the detected object by performing image processing of the portion of the image; and

generating the visual object indicator based on the evaluation.

11. The method of claim 8 , and further comprising:

evaluating the detected object by determining a likelihood that detection of the detected object by the non-optical object detection sensor comprises a false positive detection; and

the visual object indicator comprises a false positive indicator based on the likelihood.

12. The method of claim 1 , and further comprising:

applying an image classifier to the portion of the image to determine an object type of the detected object; and

displaying the visual object indicator based on the object type.

13. The method of claim 1 , wherein

the mobile work machine comprises a frame, an operator compartment configured to orient an operator in a forward direction of travel of the mobile work machine, and a tool supported by the frame and configured to move material on the worksite, and

the imaging sensor comprises a rear-facing camera on the mobile work machine, the rear-facing camera being oriented in a rearward direction that is opposite the forward direction.

14. A mobile work machine comprising:

an object detection sensor configured to:

transmit a detection signal;

receive a reflection of the detection signal; and

based on the reflection, generate a first sensor signal indicative of a relative position of a detected object to a sensor location of the object detection sensor;

an optical imaging sensor configured to generate a second sensor signal representing an image of a worksite to a rear of the mobile work machine;

at least one processor; and

memory storing instructions executable by the at least one processor, wherein the instructions, when executed, cause the mobile work machine to:

correlate the relative position of the detected object to a portion of the image;

generate object characterization data representing the detected object based on image processing on the portion of the image;

determine a projected rearward path of the mobile work machine; and

generate a control signal that controls a display device to:

display a representation of the image with

a visual path indicator indicative of the projected rearward path on the image; and

a visual object indicator that represents the detected object on the portion of the image based on the object characterization data, and

change a visual characteristic of the visual path indicator based on a determination that at least a portion of the detected object is located in the projected rearward path.

15. The mobile work machine of claim 14 , wherein the instructions, when executed, cause the mobile work machine to:

perform the image processing to determine a window size for the window within which a closed blob is detected and

identify the detected object based on detection of the closed blob.

16. The mobile work machine of claim 14 , wherein the mobile work machine comprises ground engaging Unction elements, and the instructions cause the mobile work machine to determine the projected rearward path based on at least one of:

a differential drive speed of a first ground engaging traction element relative to a second ground engaging traction element; or

an articulation angle of the mobile work machine.

17. A mobile work machine comprising:

a set of ground engaging traction elements configured to move the mobile work machine over a worksite a forward direction of travel;

an operator compartment having a display device;

an object detection sensor configured to:

a transmitter configured to transmit an electromagnetic signal; and

a receiver configured to receive a reflection of the electromagnetic signal and to generate, based on the reflection, an object indication signal;

a rear-facing camera having a field of view in a rearward direction that is opposite the forward direction, the rear-facing camera configured to capture images with the field of view;

at least one processor; and

memory storing instructions executable by the at least one processor, wherein the instructions, when executed, cause the mobile work machine to:

based on the object indication signal from the object detection sensor, identify a window within the field of view of the rear-facing camera;

perform image processing on the window;

identify a detected object on the worksite based on the image processing;

determine a projected rearward path of the mobile work machine;

control the display device to display:

a representation of the image with a visual object indicator that represents the detected object on a portion of the image, and

a visual path indicator indicative of the projected rearward path; and

set a visual characteristic of the visual path indicator based on a determination that at least a portion of the detected object is located in the projected rearward path.

18. The mobile work machine of claim 14 , and further comprising:

a frame;

an operator compartment configured to orient an operator in a forward direction of travel of the mobile work machine, the optical imaging sensor comprises a rear-facing camera on the mobile work machine, the rear-facing camera being oriented in a rearward direction that is opposite the forward direction; and

a tool supported by the frame and configured to move material on the worksite.

19. The mobile work machine of claim 17 , wherein the instructions, when executed, cause the mobile work machine to:

perform the image processing to determine a window size for the window within which a closed blob is detected; and

identify the detected object based on detection of the closed blob.

20. The mobile work machine of claim 17 , wherein the instructions, when executed, cause the mobile work machine to:

control the object detection sensor to transmit electromagnetic radiation;

receive reflections of the electromagnetic radiation;

detect the detected object based on the reflections;

evaluate the detected object by performing image processing of the portion of the image; and

generate the visual object indicator based on the evaluation.