UAV perception validation based upon a semantic AGL estimate

Abstract

A method for perception validation of an unmanned aerial vehicle (UAV) includes: acquiring an aerial image of a ground area with an onboard camera system of the UAV, generating a semantic above ground altitude (AGL) estimate with a neural network trained to output the semantic AGL estimate in response to the aerial image fed as an input to the neural network, generating a motion estimate or a position estimate based upon perception sensor data output from a perception sensor disposed onboard the UAV, and cross-validating the motion or position estimate against the semantic AGL estimate.

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