Commission I, ICWG I/VbKEY WORDS: Position and Orientation System (POS), Unmanned Aerial Vehicle (UAV), blur image detection, degree of motion blur ABSTRACT:The image quality plays an important role for Unmanned Aerial Vehicle (UAV)'s applications. The small fixed wings UAV is suffering from the image blur due to the crosswind and the turbulence. Position and Orientation System (POS), which provides the position and orientation information, is installed onto an UAV to enable acquisition of UAV trajectory. It can be used to calculate the positional and angular velocities when the camera shutter is open. This study proposes a POS-assisted method to detect the blur image. The major steps include feature extraction, blur image detection and verification. In feature extraction, this study extracts different features from images and POS. The image-derived features include mean and standard deviation of image gradient. For POS-derived features, we modify the traditional degree-of-linear-blur (b linear ) method to degree-of-motion-blur (b motion ) based on the collinear condition equations and POS parameters. Besides, POS parameters such as positional and angular velocities are also adopted as POS-derived features. In blur detection, this study uses Support Vector Machines (SVM) classifier and extracted features (i.e. image information, POS data, b linear and b motion ) to separate blur and sharp UAV images. The experiment utilizes SenseFly eBee UAV system. The number of image is 129. In blur image detection, we use the proposed degree-of-motion-blur and other image features to classify the blur image and sharp images. The classification result shows that the overall accuracy using image features is only 56%. The integration of image-derived and POS-derived features have improved the overall accuracy from 56% to 76% in blur detection. Besides, this study indicates that the performance of the proposed degree-of-motion-blur is better than the traditional degree-of-linear-blur.