Eagle-Vision-Based Object Detection Method for UAV Formation in Hazy Weather

Inspired by eagle's visual system, an eagle-vision-based object detection method for unmanned aerial vehicle (UAV) formation in hazy weather is proposed in this paper. To restore the hazy image, the values of atmospheric light and transmission are estimated on the basis of the signal processing mechanism of ON and OFF channels in eagle's retina. Local features of the dehazed image are calculated according to the color antagonism mechanism and contrast sensitivity function of eagle's visual system. A center-surround operation is performed to simulate the response of reception field. The final saliency map is generated by the Random Forest algorithm. Experimental results verify that the proposed method is capable to detect UAVs in hazy image and has superior performance over traditional methods.