Imminent Collision Detection

Passive Collision Detection (PCoDe) for Sense and Avoid

PCoDe predicts imminent collisions using only a passive monocular camera. This technology builds upon UC's unique passive ranging technology M2PARS to track other aircraft. Together with M2PARS, PCoDe can provide a passive-only end-to-end Sense and Avoid solution for UAS.


Technology description

  • PCoDe is based on probabilistic trajectory prediction along with estimation of the closest point of approach (CPA), the distance at CPA and the probability of collision
  • Extensive Monte Carlo simulation results of PCoDe have shown promising collision detection performance with high correct detection rate and low false alarm rate (above 95% correct detection rate with 2% false alarm rate)
  • High fidelity camera sensor noise models are used to improve performance
  • PCoDe can be easily adapted for unmanned surface vehicle use

UC has demonstrated the system—detection, tracking and ranging—offline using MAV test bed available at Brigham Young University. The following video demonstrates the results.

UC is currently working with DARPA and AFRL to develop and test an end-to-end SAA solution. The following video demonstrates our results from one of our flight tests conducted in January 2016.