Foreign Object Retrieval System (FORS)

Flightline workers currently perform foreign object debris (FOD) checks prior to every airfield entry, which may be adversely affected by various external factors. Any missed foreign object (FO) presents a significant hazard to aircraft operating on the airfield. Foreign Object Retrieval System (FORS) detects and removes FOD from taxiway crossing areas, and manages traffic through the intersection to prevent incidents with FOD and the removal system. FORS is scalable to larger surface detection and retrieval areas by integrating networks of commercial off the shelf (COTS) FOD scanning equipment. For example, FORS detects an FO on a taxiway crossing after a small metal object falls off of a passing ground vehicle. FORS illuminates a red traffic light to close the intersection, then dispatches an autonomous vehicle to vacuum the FO. FORS turns off the red traffic light once the vacuum vehicle is clear of the intersection, and waiting aircraft may safely proceed. FORS scans the taxiway surface at regular intervals (e.g. 1Hz) with both optical and radar sensors. Optical input is processed with a Convolutional Neural Network prior to being fused with radar data in a Bayesian belief network that indicates the likely location of FOD.