Moving object detecting apparatus for unmanned aerial vehicle collision avoidance and method thereof

摘要

The present invention relates to a moving object detection device to avoid collision with an unmanned aerial vehicle (UAV), capable of applying a background separation algorithm for a fixated camera to a moving camera, such as a UAV environment, thereby easily applying an algorithm with excellent performance to the UAV environment with limited resources; and a method thereof. According to the present invention, as motion information is received from a sensor mounted on a UAV, ego-motion of a camera is effectively corrected, thereby solving a problem of recognizing background as an object, thus being able to apply a low complexity Gaussian mixture model (GMM)-based background subtraction (BS) algorithm, which provides high performance in a fixated camera, but is not usable in a moving camera environment such as the UAV, to the UAV having limited resources. Therethrough, provided is an effect capable of providing a real-time moving object detection perform of high performance. According to the present invention, the device comprises: a camera motion correction unit; a GMM-based background generation unit; and an object detection unit.