公开(公告)号：US10557916B2

公开(公告)日：2020-02-11

申请号：US15773899

申请日：2016-11-07

Applicant: Squarehead Technology AS

Inventor： Ines Hafizovic ,  Stig Oluf Nyvold ,  Jon Petter Helgesen ,  Johannes Alming Daleng ,  Frode Berg Olsen

IPC: G10L15/02 ,  G01S5/02 ,  G01S5/20 ,  G06K9/00 ,  G06K9/32 ,  G06T7/73 ,  G06K9/62

Abstract: A system for detecting, classifying and tracking unmanned aerial vehicles (UAVs) comprising: at least one microphone array arranged to provide audio data; at least one camera arranged to provide video data; and at least one processor arranged to generate a spatial detection probability map comprising a set of spatial cells. The processor assigns a probability score to each cell as a function of: an audio analysis score generated by comparing audio data to a library of audio signatures; an audio intensity score generated by evaluating a power of at least a portion of a spectrum of the audio data; and a video analysis score generated by using an image processing algorithm to analyse the video data. The system is arranged to indicate that a UAV has been detected in one or more spatial cells if the associated probability score exceeds a predetermined detection threshold.