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i got at least one idea for you, it's also far more primitive, than your prev. attempts:

• use only a small roi in the direction you're going
• threshold/morpholoogy/blurring. exploit, that the top of the vine bushes are lighter than the bg
• findContours() or simply findNonzero(), followed by PCA analysis
• stay over the "white parts", and follow the green arrow !

it's way over the top, but you might also want to read the pushbroom stereo paper

i got at least one idea for you, it's also far more primitive, than your prev. attempts:

• use only a small roi in the direction you're going
• threshold/morpholoogy/blurring. threshold/morphology/blurring. exploit, that the top of the vine bushes are lighter than the bg
• findContours() or simply findNonzero(), followed by PCA analysis
• stay over the "white parts", and follow the green arrow !

it's way over the top, but you might also want to read the pushbroom stereo paper