Efficient sky segmentation approach for small UAV autonomous obstacles avoidance in cluttered environment

Nowadays, Unmanned Air Systems (UAS) or Unmanned Air Vehicles (UAV) plays an important role in different critical missions. UAVs must have the ability to perform different kinds of missions that may be, it is impossible to be performed by the human operator. Moreover, UAVs can reach various areas in different weather and environmental conditions. As a result, UAV should be equipped with an efficient autonomous obstacle avoidance system. In this paper, we are going to introduce an efficient approach for sky segmentation in a cluttered environment that is considered as a vital step for UAV autonomous obstacle avoidance. From experimental results, the proposed sky segmentation approach gives promising results for significantly sky segmentation and preserving the potential obstacles.