An unmanned aerial vehicle real-time detection method used in a dynamic environment

The invention discloses an unmanned aerial vehicle real-time detection method used in a dynamic environment. The unmanned aerial vehicle real-time detection method comprises the steps of 1, establishing an Otsu-HSV color model; Step 2, inputting an image into the Otsu-HSV color model; using a BING algorithm to detect, and combining an overlapping area formula to eliminate a part of detection windows with large coincidence degrees; and step 3, combining an NMS algorithm of a linear weighting method, and replacing the original confidence score of some windows needing to be suppressed with relatively low confidence by using the NMS algorithm. According to the method, the HSV space and the maximum between-cluster variance method are combined, the overlapping area and the linear weighted scoreare introduced, the improved BING/NMS algorithm is provided, and finally, on the premise that the real-time performance is met, the detection accuracy and the optimal overlapping rate of the unmannedaerial vehicle are ensured