Method, apparatus and computer program to detect dangerous object for aerial vehicle

An apparatus for detecting a dangerous object for an aerial vehicle, comprising:

• an object detection area setting unit configured to set an object detection area in air in which the aerial vehicle is in flight using a first sensor, a second sensor, and a third sensor, wherein the object detection area includes a first area formed by the first sensor, a second area formed by the second sensor within the first area, and a third area formed by the third sensor within the second area;
• a sensing data acquisition unit configured to acquire first sensing data, second sensing data, and third sensing data detected by each of the first sensor, the second sensor, and the third sensor;
• an object processing unit configured to detect an object in the set object detection area and generate detailed object information on the detected object by adaptively fusing the acquired sensing data based on a location of the detected object within the object detection area, wherein when the detected object is located between an outer boundary of the first area and an outer boundary of the second area, the object processing unit generates the detailed object information using only the first sensing data, wherein when the detected object is located between the outer boundary of the second area and an outer boundary of the third area, the object processing unit generates the detailed object information by fusing the first sensing data and the second sensing data, and wherein when the detected object is located within the third area, the object processing unit generates the detailed object information by fusing the first sensing data, the second sensing data, and the third sensing data;
• a dangerous object determination unit configured to determine whether the detected object is the dangerous object based on the generated detailed object information;
• and
• a flight control unit configured to control a flight operation of the aerial vehicle based on the generated detailed object information.

A non-transitory computer-readable recording medium in which a program for executing a method of detecting a dangerous object for an aerial vehicle, the method comprising:

• setting an object detection area in air in which the aerial vehicle is in flight using a first sensor, a second sensor, and a third sensor, wherein the object detection area includes a first area formed by the first sensor, a second area formed by the second sensor within the first area, and a third area formed by the third sensor within the second area;
• detecting an object in the set object detection area;
• acquiring first sensing data, second sensing data, and third sensing data detected by each of the first sensor, the second sensor, and the third sensor;
• generating detailed object information on the detected object by adaptively fusing the acquired sensing data based on a location of the detected object within the object detection area, wherein when the detected object is located between an outer boundary of the first area and an outer boundary of the second area, the detailed object information is generated using only the first sensing data, wherein when the detected object is located between the outer boundary of the second area and an outer boundary of the third area, the detailed object information is generated by fusing the first sensing data and the second sensing data, and wherein when the detected object is located within the third area, the detailed object information is generated by fusing the first sensing data, the second sensing data, and the third sensing data;
• determining whether the detected object is the dangerous object based on the generated detailed object information;
• and
• controlling a flight operation of the aerial vehicle based on the generated detailed object information.