Obstacle detection system for low-flying airborne craft

• US 6,243,482 B1
• Filed: 02/13/1997
• Issued: 06/05/2001
• Est. Priority Date: 02/13/1996
• Status: Expired due to Term

• Current Assignee: EADS Deutschland GmbH (Airbus SE)
• Original Assignee: Dornier GmbH (Government of France)
• Inventors: Schaefer, Christoph, Eibert, Max
• Primary Examiner(s): Patel, Jayanti K.
• Application Number:
  US08/799,860
• Time in Patent Office: 1,573 Days
• Field of Search: 382/103, 382/104, 382/106, 382/291, 382/294, 382/153, 382/199, 382/214, 382/260, 382/263, 382/266, 348/142, 348/143, 348/144, 348/148, 348/113, 356/4.03, 356/376, 356/2, 701/1, 701/301, 342/65, 340/853.3
• US Class Current: 382/103
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/933 of aircraft or spacecraft
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection
• CPC Class Codes: G01S 7/51 Display arrangements
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

Abstract

Obstacle warning system for low-flying airborne craft in which case the edge contours of the obstacles are visualized for the pilot in a display.

Claims

1. A method of displaying obstacle image information for use with an imaging system having a video camera, a range image sensor, a processor unit and a display for displaying image information, said method comprising the steps of:

processing a range image acquired by said range image sensor to detect discontinuities between adjacent image data in said range image, to generate one dimensional edge contour information for features present in a field of view;

displaying an image of said field of view acquired by said video camera, with said one dimensional edge contour information superimposed in spacial registration therewith;

wherein

said processing step comprises high pass filtering in a digital processor;

the range image sensor has an imaging speed lower than 25 to 30 Hz;

the range image sensor generates its image, scanning vertical or horizontal lines in the course of the time;

only those obstacle contours are blended into the optical image which occur in a currently generated range image line and whose position is known because of a shorter dead time between the detection in the range image and blending into the basic image; and

during further building-up of the range image, previously blended in object contours become gradually weaker.

2. A method of displaying obstacle image information for use with an imaging system having a video camera, a range image sensor, a processor unit and a display for displaying image information, said method comprising the steps of:

processing a range image acquired by said range image sensor to detect discontinuities between adjacent image data in said range image, to generate one dimensional edge contour information for features present in a field of view;

displaying an image of said field of view acquired by said video camera, with said one dimensional edge contour information superimposed in spacial registration therewith;

wherein

said processing step comprises high pass filtering in a digital processor;

the range image sensor has an imaging speed lower than 25-30 Hz;

said imaging system includes a navigation system; and

a correct position of the obstacle contour in the basic image at any point in time is calculated from its position in the range image taking into account a course of the movement of the system in all six degrees of freedom.