Passive camera based cloud detection and avoidance for aircraft systems

A computerized aircraft system, such as an unmanned aircraft system (UAS) is provided with a cloud detection system. The UAS includes a monocular electro-optic or infra-red camera which acquires consecutively, in real time, a plurality of images within a field of view of the camera. The system identifies feature points in each of the consecutive images, and generates macro representations of cloud formations (3D representations of the clouds) based on tracking of the feature points across the plurality of images. A cloud avoidance system takes in nominal own-ship waypoints, compares those waypoints to the 3D cloud representations and outputs modified waypoints to avoid the detected clouds.