A CONTROLLER FOR A WORKING VEHICLE

A controller (100) configured to receive image data (102) representative of the surroundings of a working vehicle. The image data (102) comprises a plurality of portion data. The controller (100) determines (104) one or more features associated with each of the plurality of portion data. For each of the plurality of portion data, the controller (100) applies (106) a label-attribution-algorithm to attribute one of a plurality of predefined labels to the portion data in question based on: (i) features determined for the portion data in question; and (ii) features determined for proximate portion data, which is portion data that is proximate to the portion data in question. The labels are representative of objects. The controller (100) provides a representation (110) of the attributed labels and their position in the received image data (102).