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《Journal of Projectiles,Rockets,Missiles and Guidance》 2009-04
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Horizon Detection Based on Edge and Region Feature for Images Captured by UAV

LI Lichun,GUI Yang,SHANG Yang,WANG Kunpeng(1 College of Aerospace and Material Engineering,National Univ.of Defense Technology,Changsha 410073,China)  
Aim at the problem of horizon detection in the vision-based automatic determination of UAV's gesture,the identification rule and detection algorithm of the horizon are proposed.The edge and region features of horizon in the image are analyzed basing on which the one-dimension edge detection method and distributing restriction of gray level are introduced to find the points belong to a horizon.An improved RANSAC algorithm is presented to process the candidate points for the extracting of horizon line,which is confirmed using identification rule of horizon.Experiment results have proved the validation of the algorithm.
【CateGory Index】: V279
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