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    • 3. 发明专利
    • Event-based aerial detection vision system
    • GB2605675A
    • 2022-10-12
    • GB202116880
    • 2021-11-24
    • NOAM KENIG
    • NOAM KENIG
    • G06V20/52G06V10/12G06V10/82
    • A method of detecting aerial objects comprising capturing event images of a scene using an event-based camera 100; detecting events; and computing properties of the detected events to detect candidate aerial objects 400 and compute their physical properties. The event images may comprise pixel coordinates, timestamp, and polarity of change. The dynamic vision sensor may be located on an unmanned aerial vehicle (UAV), manned vehicle 510, ground platform or sea platform, and may include pan, tilt and zoom functions. Framing may be assisted with a conventional frame based camera (110, Fig. 2). The computed physical properties may include: distance, speed, size, shape, propeller rotation, spin, and vibration frequency. The trajectory may be calculated, and extrapolated to calculate an estimated origin, target, or both. The aerial object may also be classified using the computed properties of the detected events and/or candidate aerial objects. There may be multiple event cameras (Figs. 10B, 12 and 20).