Computer Vision: A Modern Approach
Computer Vision: A Modern Approach
Machine Vision: Theory, Algorithms, Practicalities
Machine Vision: Theory, Algorithms, Practicalities
Horizon Detection Using Machine Learning Techniques
ICMLA '06 Proceedings of the 5th International Conference on Machine Learning and Applications
Terrain-based vehicle orientation estimation combining vision and inertial measurements
Journal of Field Robotics
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Robotics and Autonomous Systems
Fixed-wing attitude estimation using temporal tracking of the horizon and optical flow
Journal of Field Robotics
A physical model-based approach to detecting sky in photographic images
IEEE Transactions on Image Processing
Morphological grayscale reconstruction in image analysis: applications and efficient algorithms
IEEE Transactions on Image Processing
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The horizon appearance is a strong visual indication of the attitude of an aircraft, so a vision based system should be able to detect the horizon and use its appearance to extract attitude measurements. Past methods have made the assumption that the horizon is straight, this neglects possible navigational and attitude information. This paper outlines a horizon detection method which allows for the actual horizon profile shape to be extracted. This horizon profile is then used for visual attitude determination. Test results for a captured flight video are presented and the proposed method is compared and evaluated against other methods.