Patent Document ID: 9097532
Application ID: 12690450
Patent Status: 1

Claim One:
1. A system for detecting moving objects from a mobile vehicle, the system comprising: an imaging camera; a navigation unit including at least an inertial measurement unit; a computer system coupled to the image camera and the navigation unit; wherein the computer system executes an airborne-object detection process algorithm, and calculates a transformation between two or more image frames captured by the imaging camera using navigation information associated with each of the two or more image frames to generate a motion compensated background image sequence; wherein the computer systems projects at least one image frame of the two or more images frames into a target image frame selected from the two or more image frames; and wherein the computer system detects moving objects from the motion compensated background image sequence by detecting differences between overlapping portions of the motion compensated background image sequence; and a guidance or flight control system coupled to the computer system, wherein the guidance or flight control system makes adjustments to a trajectory based on information regarding moving objects detected from the motion compensated background image sequence.