Abstract: Disclosed is a system including a content receiver and an antenna coupled to the content receiver. A camera is mounted on the antenna. The content receiver includes a processor and a memory storing instructions that, when executed by the processor, cause the content receiver to: output a control signal to the camera mounted on the antenna, receive image data from the camera mounted on the antenna, determine that the image data received from the camera mounted on the antenna indicates a potential or actual obstruction of the antenna or movement of the antenna, and output a message indicating that the potential or actual obstruction of the antenna or movement of the antenna device has been detected, in response to determining that the image data received from the camera mounted on the antenna indicates the potential or actual obstruction of the antenna or movement of the antenna.

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object

Abstract: A system for calibrating a camera for use aboard a fuel-supplying aircraft (“tanker”) for an automated air-to-air refueling (“A3R”) process in which the tanker offloads aviation fuel to a fuel-receiving aircraft (“receiver”) includes an electronic control unit having a processor and a non-transitory computer-readable storage medium on which is recorded instructions for calibrating the camera. Executing the instructions causes the processor to perform a corresponding method, i.e., to receive boom position data indicative a true position of the boom in free space, and real-time image data from the camera. The instructions also cause the processor to use the boom position data and a 3D model of the boom to project a digital representation of the boom into the image space. The processor then minimizes a difference between the projected and real images of the boom to thereby calibrate the camera.

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object

Abstract: A system for real-time target identification of an unmanned aerial vehicle (UAV) based on an embedded technique and an improved YOLO4 algorithm, and relates to the field of real-time target detection is disclosed. The system for real-time target identification of a UAV based on an embedded technique and an improved YOLO4 algorithm abandons a conventional “one-to-one” mode, and can be used for a plurality of UAV data processing applications, and multiple users in different geographical locations can further remotely manage and control the system. Particularly, in a target identification client of the present disclosure, to obtain a better real-time identification effect, a YOLOv4 target identification algorithm is improved, so that a better identification result and a faster identification speed are obtained.

Abstract: A visibility determination system determines a visibility condition based on an image taken by a camera. The visibility determination system includes: an acquisition part, configured to acquire a first extracted image obtained by extracting an edge of an imaging target in a first image taken by the camera; and a determination part, configured to determine visibility based on the first extracted image and a second extracted image that is obtained by extracting the edge of the imaging target in a second image taken by the camera at a different time from the first image.

Abstract: Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object

Abstract: A method including: receiving visible-light images captured using camera(s) and depth data corresponding to said images; identifying image segments of visible-light image that represent objects or their parts belonging to different material categories; detecting whether at least two adjacent image segments in visible-light image pertain to at least two different material categories related to same object category; and when it is detected that at least two adjacent image segments pertain to at least two different material categories related to same object category, identifying at least two adjacent depth segments of depth data corresponding to at least two adjacent image segments; and correcting errors in optical depths represented in at least one of at least two adjacent depth segments, based on optical depths represented in remaining of at least two adjacent depth segments.

Abstract: An inventory management system managing a plurality of inventory items stored in a storage area. The inventory management system includes an autonomous vehicle configured to move within the storage area and a computing device communicatively coupled to the autonomous vehicle. The autonomous vehicle includes a beacon configured to facilitate detection of a current position of the autonomous vehicle based on signal triangulation, a sensor configured to detect information indicative of a number of inventory items at the current position of the autonomous vehicle, and a wireless data link configured to transmit a signal indicative of the number of inventory items. The computing device may detect a position of the autonomous vehicle based on the signal transmitted from the beacon, and update an inventory of the storage area based on the signal indicative of the number of inventory items.

Abstract: Provided herein are various enhanced systems, apparatuses, and techniques for on-surface analysis of celestial or terrestrial surfaces, such as for discovery and analysis of water ice deposits, locations, abundances, and depths. An example herein includes a swarm of spherical payloads sequentially deployed by a deployment host across a large area of a surface to impact the surface, sense properties of the surrounding environment using avionics and scientific instrumentation, and to establish a communication network to collect and transmit collected data.

Abstract: A system and method for mission planning and flight automation for an unmanned aircraft comprising generating an aerial imagery map of a capture area; generating a flight plan based on criteria for capturing images used to create a model of a feature present in the images; comparing the generated aerial imagery map with the generated flight plan; determining whether there is a possible collision between an obstacle associated with the generated aerial imagery map and the unmanned aircraft along a flight path of the generated flight plan; and executing, based on the determination, the generated flight plan.

Abstract: A system and method for alerting a driver of a motor vehicle or a person walking along a road or hiking on a trail of potentially dangerous hazards in their path. Hazards may be deep water, ice, oil slicks or other hazards. In the case of a motor vehicle, the system uses cameras mounted on or within the vehicle to detect potential hazards and then analyzes the images combined with the known topography of the location to evaluate the ability of the vehicle to safely traverse the hazard. In the case of a person walking or hiking, the person may use the camera on a personal mobile device to capture images of the hazard and to combine the images with the known topography at the location to evaluate the danger presented by the hazard.

Abstract: A support system for use with an aircraft or vehicle capable of hovering. The support system includes a detecting portion provided outside an airframe and configured to detect a target object that may become an obstacle; an imaging portion configured to take an image of surroundings of the aircraft; a data processing portion; a display portion and the like. The data processing portion acquires data from the detecting portion and an avionics system. The data processing portion uses the acquired data to generate target object schematic image data indicating approach of the target object or possibility of the approach of the target object and outputs the target object schematic image data to the display portion. The display portion displays an obstacle state display image based on the target object schematic image data, the obstacle state display image schematically showing a state of the obstacle around the aircraft.

Abstract: An unmanned aerial vehicle (UAV) is dispatched to automatically fly to a location of an antenna indicated by GPS coordinates, automatically recognize the antenna at that location using automated image analysis and object detection, and then start capturing still or video imagery of the antenna in response to the recognition of the antenna. The UAV may be automatically activated to start looking for debris, obstructions or other objects affecting line-of-sight signal reception by the antenna in response to arriving at the location of the antenna and/or detection of the antenna. The UAV may automatically transmit (e.g., in real time) the still or video aerial imagery of the antenna to a backend system for analysis to determine whether there exists a specific issue (e.g., snow or other debris on the antenna) affecting wireless communication involving the antenna.

Abstract: A mutual recognition method between an unmanned aerial vehicle (UAV) and a wireless terminal, includes: when an image of the UAV is positioned in a predetermined section of an imaging surface of an image sensor in the wireless terminal, receiving, by a server, first state information about the wireless terminal including information about a direction of an external magnetic field of the wireless terminal from the wireless terminal.

Abstract: Various arrangements for communicating with a device utilizing an unmanned aerial vehicle (UAV) are presented. A backend system may detect a triggering event associated with a device based upon data received via a first connection. In response to detecting the first triggering event, the UAV may receive a first data set and a location associated with the device from the backend system. The UAV may deploy to the received location. A second connection between the UAV and the device can be established at the received location. The UAV may transmit the first data set to the device via the second connection at the received location.

Abstract: A user device may include a memory and a processor. The user device may send, via a cellular network, instructions to an unmanned aerial vehicle (UAV). The instructions may include instructions to capture a plurality of first images while the UAV is in flight. The user device may receive, while the UAV is in flight, one or more second images via a wireless wide area network. The one or more second images may be lower resolution versions of a subset of the first plurality of images. The user device may store the one or more second images at the user device.

Abstract: A center C of a connecting portion coincides with a center U of lift generated in a body of a rotary-wing aircraft. The center C of the connecting portion is a point of action of gravitational force of a support rod and a first mounting portion with respect to the connecting portion. The center U of the lift is a point of action of the lift on the rotary-wing aircraft and is the center of rotation of the connecting portion.

Abstract: A system identifies strong features in conjugate digital images and correlates the conjugate digital images for an identification of candidate tie points using only portions of the conjugate digital images that include the strong features.

Abstract: Systems and methods for surveilling. Systems and methods include generating, with a processor, a baseline associated with a subject; performing, with the processor, a scan of the subject; comparing, with the processor, the scan of the subject with the baseline; and generating, with the processor, a report comprising a result of the comparing of the scan of the subject with the baseline associated with the subject.

Abstract: A system and method for alerting a driver of a motor vehicle or a person walking along a road or hiking on a trail of potentially dangerous hazards in their path. Hazards may be deep water, ice, oil slicks or other hazards. In the case of a motor vehicle, the system uses cameras mounted on or within the vehicle to detect potential hazards and then analyzes the images combined with the known topography of the location to evaluate the ability of the vehicle to safely traverse the hazard. In the case of a person walking or hiking, the person may use the camera on a personal mobile device to capture images of the hazard and to combine the images with the known topography at the location to evaluate the danger presented by the hazard.

Abstract: A system, computer-implemented method and non-transitory computer readable medium storing instructions for generating a two-dimensional (2D) map of an area of interest are provided. The system comprises a processor and memory storing instructions which when executed by the processor configure the processor to perform the method. The method comprises determining a perimeter of an area of interest, obtaining nadir images of the area of interest, obtaining at least one oblique image of the area of interest from at least one corner of the perimeter, and processing the nadir and oblique images together to form the 2D map of the area of interest.

Abstract: Systems and methods for eyelid shape estimation are disclosed. In one aspect, after receiving an eye image of an eye (e.g., from an image capture device), an eye pose of the eye in the eye image is determined. From the eye pose, an eyelid shape (of an upper eyelid or a lower eyelid) can be estimated using an eyelid shape mapping model. The eyelid shape mapping model relates the eye pose and the eyelid shape. In another aspect, the eyelid shape mapping model is learned (e.g., using a neural network).

Abstract: An imaging system for an aircraft is disclosed. The imaging system comprises one or more image sensors configured to image a surrounding environment of the aircraft, a light source configured to emit light, a mask including one or more prisms configured to direct the light, and one or more pinholes configured pass the light directed from the one or more prisms, and a controller communicatively coupled to the one or more image sensors. The controller is configured to: receive an image of the surrounding environment of the aircraft from the one or more image sensors, wherein the image includes an artifact based on the light passed by the one or more pinholes; determine centroid data and extent data of the artifact in the image; and determine an orientation of the artifact in the image with respect to a calibration artifact using the centroid data and the extent data.

Abstract: An imaging system is provided for a vehicle. In one implementation, the imaging system includes an imaging module, a first camera coupled to the imaging module, a second camera coupled to the imaging module, and a mounting assembly configured to attach the imaging module to the vehicle such that the first and second camera face outward with respect to the vehicle. The first camera has a first field of view and a first optical axis, and the second camera has a second field of view and a second optical axis. The first optical axis crosses the second optical axis in at least one crossing point of a crossing plane. The first camera is focused a first horizontal distance beyond the crossing point of the crossing plane and the second camera is focused a second horizontal distance beyond the crossing point of the crossing plane.

Abstract: The present invention discloses an unmanned aerial vehicle control system and an implementation method therefor, a ground control device and a relay station, where the unmanned aerial vehicle control system includes an unmanned aerial vehicle and a ground control device, and further includes one or more relay stations in communication connection with the ground control device through a local area network or the Internet, the ground control device being configured to send a control instruction to control the unmanned aerial vehicle, and the relay station being configured to: when satisfying a preset condition, receive the control instruction sent by the ground control device, and send the control instruction to the unmanned aerial vehicle.

Abstract: A space vehicle comprising an optical system having a field of view, the optical system comprising at least two optical elements spaced from one another along an optical axis, thereby defining an interior cavity; at least one control system comprising at least one physical element configured for performing function(s) for enabling operation of the vehicle; and at least one holding assembly for holding the at least one control system and comprising a folding mechanism configured to move between a folded position corresponding to an inoperative mode of the optical system, and a deployed position corresponding to an operative mode of the optical system, such that in the folded position, the control system is at least partially located in the interior cavity for stowage, and in the deployed position, the control system is located outside the interior cavity and outside the field of view of the optical system, allowing operation of the optical system.

Abstract: An object is to provide, for synthetic information such as synthetic images, images with few errors. Thus, for an acquired image including information regarding a specific wavelength region, for example, an image of a specific region corresponding to a specific positional range in a captured image is extracted. A plurality of pieces of information regarding the specific region extracted from respective captured images captured at different points in time is synthesized to generate a synthetic information. By performing synthesis on the captured images captured at the different points in time during movement, synthetic information with few errors is obtained from an object spanning a wide range.

Abstract: An apparatus for congestion visualization according to an embodiment of the present invention includes an area-specific image storage configured to store area-specific images captured by a plurality of cameras which capture different regions in a specific space, respectively, a two-dimensional map storage configured to store a two-dimensional map for the specific space, an area-specific congestion calculator configured to calculate, based on the area-specific images, an area-specific congestion for each of capturing areas captured by the plurality of cameras in the specific space, a mapping area identifier configured to identify a mapping area corresponding to each of the capturing areas on the two-dimensional map, based on a mapping point set in each of the two-dimensional map and the area-specific images, and an area-specific congestion visualizer configured to visually displaying, on the two-dimensional map, the area-specific congestion for each of the capturing areas, based on the mapping area.

Abstract: A CubeSat compatible spectrometer including a slit having a first length and first width; a diffraction grating; and a two dimensional focal plane array electromagnetically coupled to the diffraction grating. The 2D focal plane array includes an array of pixels including a plurality of sets of pixels. Diffraction of electromagnetic radiation transmitted through the slit by the diffraction grating forms a plurality of beams, each of the beams comprising a different one of the bands of the wavelengths in the electromagnetic radiation, and each of the beams transmitted onto a different one of the sets of the pixels.

Abstract: A drone autonomously operates to track an object, track an object while being stealthy and/or observe the details of an object while maintaining communication at a rate equal to or greater than a threshold. A drone may operate to maintain the image of an object at or above a predetermined resolution in an image captured by a camera mounted on the drone and to maintain a wireless communication rate equal to or greater than a threshold rate. A drone may operate so that the sound intensity level caused by the operation of the drone is less than or equal to a sound intensity level threshold as perceived by an object (e.g., person, target, suspect) being tracked.

Abstract: Methods, Systems, and Devices are disclosed for using drone imaging to capture images. Capture instructions are provided to a drone device to aid in image capture. The capture instructions may include factors-of-interest. The factors-of-interest may include subject faces derived from a collection of images stored at a user device such as a cell phone. The factors-of-interest may also include information derived from images associated with an event, geographical and temporal information associated with the event and social graph information received from a social network and used to determine subject faces to target for image capture by the drone device. The factors-of-interest may also include current geographical location information of one or more friends identified in the social graph. This information may also be used to locate subjects for image capture. The social graph information may also be used to distribute any images captured to subjects appearing in those images.

Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.

Abstract: A freeform imaging system with a spectrometer and telescope components optically connected and optimized to increase the spectral and spatial resolution capabilities. Many embodiments of the system are capable of producing a spectral resolution of approximately 1 nm and a spatial resolution less than 30 m such that the imaging system can be used to accurately capture and measure point source plumes of various atmospheric gases including CH4, CO2, CO, N2O, and H2O.

Abstract: An autonomous system including a plurality of autonomous bodies, each of the autonomous bodies includes a situation grasping unit that grasps situation, an operation determining unit that determines an operation based on the grasped situation, and an operation executing unit that executes the determined operation, the plurality of autonomous bodies included in the autonomous body system includes one or more first autonomous bodies and two or more second autonomous bodies, situation grasped by the situation grasping unit of the first autonomous body includes situation of the second autonomous body, the situation grasped by the situation grasping unit of the second autonomous body includes a result of an operation executed by the operation executing unit of the first autonomous body, and the operation determining unit of the second autonomous body determines an operation based on the result of the operation executed by the operation executing unit of the first autonomous body.

Abstract: Embodiments of the present disclosure provides a gimbal. The gimbal includes a pitch motor, a coaxial cable, and a first support arm arranged opposite a second support arm. The pitch motor is disposed at a front end of the first support arm, a motor shaft of the pitch motor extending in a direction of the second support arm for connecting with one end of an imaging device; a limiting shaft is disposed at a front end of the second support arm, the limiting shaft extending in a direction of the first arm for connecting with another end of the imaging device; a first wiring space is formed in the limiting shaft and a second wiring space is formed in the second support arm, a first end of the coaxial cable sequentially passing through the second wiring space and the first wiring space for electrically connecting with the imaging device.

Abstract: An imaging control method for an unmanned aerial vehicle (“UAV”) includes determining a combined action mode to be used when the UAV performs imaging, the combined action mode comprising at least two action modes. The imaging control method also includes generating a combined operation instruction based on the combined action mode. The imaging control method further includes transmitting the combined operation instruction to the UAV to enable the UAV to fly based on the combined operation instruction and to capture a video.

Abstract: An image capture apparatus includes an image capture unit that captures an image, a communication unit that communicates with another image capture apparatus, a determination unit that determines whether the another image capture apparatus is in an imaging area of the image capture unit, and an instruction unit that instructs the another image capture apparatus to move outside of the imaging area of the image capture unit in a case where the another image capture apparatus is in the imaging area of the image capture unit.

Abstract: A scanning camera for capturing images along three or more curved scan paths, the scanning camera comprising a camera assembly associated with each scan path, each camera assembly comprising an image sensor and a lens; a scanning mirror; and a drive coupled to the scanning mirror; wherein the drive is operative to rotate the scanning mirror about a spin axis according to a spin angle; the spin axis is tilted relative to each camera optical axis; the scanning mirror is tilted relative to the spin axis and each camera optical axis; the scanning mirror is positioned to reflect an imaging beam into each lens in turn; and each image sensor is operative to capture each image along a respective one of the scan paths by sampling the imaging beam at a corresponding spin angle.

Abstract: Various arrangements for updating a device utilizing an unmanned aerial vehicle (UAV) are presented. A backend system may detect a triggering event associated with a device based upon data received via a first connection. In response to detecting the first triggering event, the UAV may receive a first data set and a location associated with the device from the backend system. The UAV may deploy to the received location. A second connection between the UAV and the device can be established at the received location. The UAV may transmit the first data set to the device via the second connection at the received location.

Abstract: Systems and methods for providing an accurate determination of above ground level (AGL) altitude for use in precision agriculture. A 3D computer model of an agricultural field is generated by analyzing frames of a video of the agricultural field that have been obtained by a camera on an unmanned aerial vehicle flown over the agricultural field and generating 3D points that are used to create the 3D computer model. The 3D computer model is then scaled by fusing each 3D point with navigation sensor data associated with each frame. An AGL altitude for each 3D point of the scaled 3D computer model can then be determined. In another embodiment, a trajectory of the unmanned aerial vehicle can be determined and used to generate a georeferenced map using images captured by the camera.

Abstract: In an embodiment, a computer-implemented method of calibrating an imaging system in real-time, comprising: obtaining a first reading by a first sensor; establishing a dynamic link between the first reading and exposure time of a second sensor; using the dynamic link to control the exposure time of the second sensor; obtaining a second reading by the second sensor during the controlled exposure time; wherein the steps are performed by one or more computing devices.

Abstract: An imaging system for a ship includes cameras mounted on the ship and spaced apart at a predetermined interval, and a controller that combines peripheral images of the ship captured by the respective cameras to create a simulated bird's eye image. Adjacent ones of the cameras are located at positions and angles so that the peripheral images include a common portion of the ship. The controller performs a calibration process to adjust areas of the peripheral images to be used for the bird's eye image based on a calibration index located at a portion of the ship and included in the common peripheral images.

Abstract: The present subject matter provides a technical solution for various technical problems associated with precision agriculture imagery. One solution to improving precision agriculture imagery includes identification and use of ground control points. A ground control point may include the association of a visible feature in an image of an agricultural field with a geospatial coordinate. A ground control point may be used as a common reference point between two aerial images, thereby improving alignment between the two images during stitching. The ground control points may be generated using planting prescription data or as-planted data, which may include one or more intentionally unplanted regions within an agricultural filed. Multiple aerial images may be stitched together using these ground control points to generate a precisely georeferenced output image, thereby improving the accuracy of the precision agriculture output image.

Abstract: An image processing device which is capable of accurately detect pixels covered by cloud shadows and remove effects of the cloud shadows in an images are provided. The device includes: a cloud transmittance calculation unit that calculates transmittance of the one or more clouds in an input image, for each pixel; a cloud height estimation unit that determines estimation of a height from the ground to each cloud in the input image to detect position of corresponding one or more shadows; an attenuation factor estimation unit that calculates attenuation factors for the direct sun irradiance by applying an averaging filter to the cloud transmittance calculated; and a shadow removal unit that corrects pixels affected by the one or more shadows, based on a physical model of a cloud shadow formation by employing the attenuation factors calculated and the position, and outputs an image which includes the pixels corrected.

Abstract: A first imager has a relatively high resolution and a relatively narrow first field-of-view. Information about objects in an environment is detected or captured, and used to steer the first field-of-view of the first imager. The sensor(s) may take the form of a second imager with a relatively lower resolution and relatively wider second field-of-view. Alternatively, other types of sensors, for instance presence/absence sensors may be employed. The first field-of-view may be directed toward an object that satisfies one or more conditions, for instance matching a particular SKU. The first field-of-view may track a moving object, for instance via a tracking mirror and actuator. This approach may be employed in retail locations, for example in grocery or convenience stores, for instance to reduce various forms of theft or in industrial environments.

Abstract: A three-dimensional model processing method includes: generating, from first images shot by respective cameras at a first time, a first three-dimensional model including: first three-dimensional points indicating a subject at the first time; and first camera parameters indicating positions and orientations of the cameras; generating, from second images shot by the respective cameras at a second time, a second three-dimensional model including: second three-dimensional points indicating the subject at the second time; and second camera parameters indicating positions and orientations of the cameras; detecting a stationary camera among the cameras, whose position and orientation has not changed between the first and second times, or stationary three-dimensional points among the three-dimensional points, whose positions have not changed between the first and second times; and matching world coordinate systems of the first and second three-dimensional models, based on the first camera parameters of the stationary

Abstract: Various embodiments associated with a composite image are described. In one embodiment, a handheld device comprises a launch component configured to cause a launch of a projectile. The projectile is configured to capture a plurality of images. Individual images of the plurality of images are of different segments of an area. The system also comprises an image stitch component configured to stitch the plurality of images into a composite image. The composite image is of a higher resolution than a resolution of individual images of the plurality of images.

Abstract: A method for determining healing progress of a tissue disease state includes receiving a thermal image of a target wound area from a thermal imaging system, processing the thermal image to construct an isotherm map of at least one selected area, determining a thermal index value from the isotherm map, correlating the wound thermal index value with a reference thermal index value representative of an injury-free state.

Abstract: Methods, systems and apparatus, including computer programs encoded on computer storage media for unmanned aerial vehicle visual line of sight flight operations. A UAV computer system may be configured to ensure the UAV is operating in visual line of sight of one or more ground operators. The UAV may confirm that it has a visual line of sight with the one or more user devices, such as a ground control station, or the UAV may ensure that the UAV does not fly behind or below a structure such that the ground operator would not be able to visually spot the UAV. The UAV computer system may be configured in such a way that UAV operation will maintain the UAV in visual line of sight of a base location.