Means of detecting an obstacle to be avoided by a UAV. The UAV comprises at least one camera. A method of obstacle detection involves capturing an image 100 with the camera, producing a hazard map 108 corresponding to an array of regions of the capture image by detecting a plurality of points 102 in the image that define the location of image features and/or transforming the image into a saliency image (figure 2). For each region the presence or absence of a hazard is estimated, and a classifier is used to classify regions indicated as containing a possible hazard as either an obstacle to be avoided or non-threat regions. Two or more classifiers may be applied and a fused final classification for a region is determined by forming a weighted average. The hazard map may comprise combined saliency and feature data. The UAV may comprise a plurality of cameras with overlapping fields of view (figure 4). A combined hazard map may be generated covering the combined field of view of all the cameras.
Vision system and method for unmanned aerial vehicles
17.08.2022
Patent
Elektronische Ressource
Englisch
Vision system and method for unmanned aerial vehicles
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