Paper Info
Title
Robust Horizon Detection Using Segmentation for UAV Applications
Abstract
A critical step in navigation of unmanned aerial vehicles is the detection of the horizon line. This information can be used for adjusting flight parameters as well as obstacle avoidance. In this paper, a fast and robust technique for precise detection of the horizon path is proposed. The method is based on existence of a unique light field that occurs in imagery where the horizon is viewed. This light field exists in different scenes including sea-sky, soil-sky, and forest-sky horizon lines. Our proposed approach employs segmentation of the scene and subsequent analysis of the image segments for extraction of the mentioned field and thus the horizon path. Through various experiments carried out on our own dataset and that of another previously published paper, we illustrate the significance and accuracy of this technique for various types of terrains from water to ground, and even snow-covered ground. Finally, it is shown that robust performance and accuracy, speed, and extraction of the path as curves (as opposed to a straight line which is resulted from many other approaches) are the benefits of our method.
Year
DOI
Venue
2012
10.1109/CRV.2012.52
Computer and Robot Vision
Keywords
Field
DocType
precise detection,horizon line,snow-covered ground,light field,horizon path,uav applications,robust performance,robust horizon detection,forest-sky horizon line,robust technique,unique light field,robustness,clustering algorithms,clustering,feature extraction,k means,obstacle avoidance,dataset,navigation,horizon,image segmentation
Obstacle avoidance,Line (geometry),Computer vision,Object detection,Computer science,Segmentation,Horizon,Image segmentation,Feature extraction,Robustness (computer science),Artificial intelligence
Conference
ISBN
Citations 
PageRank 
978-1-4673-1271-4
7
0.59
References 
Authors
8
3
Name
Order
Citations
PageRank
Nasim Sepehri Boroujeni170.59
S. Ali Etemad2554.94
Anthony Whitehead314320.84