A robust dynamic programming algorithm to extract skyline in images for navigation

Authors:
Wen-Nung Lie;Tom C. -I. Lin;Ting-Chih Lin;Keng-Shen Hung
Affiliations:
Department of Electrical Engineering, National Chung Cheng University, 160 San-Hsing, Min-Hsiung, Chia-Yi 621, Taiwan, ROC;Department of Electrical Engineering, National Chung Cheng University, 160 San-Hsing, Min-Hsiung, Chia-Yi 621, Taiwan, ROC;Department of Electrical Engineering, National Chung Cheng University, 160 San-Hsing, Min-Hsiung, Chia-Yi 621, Taiwan, ROC;Chung-Shan Institute of Science and Technology, Lung-Tan, Tao-Yuan 325, Taiwan, ROC
Venue:
Pattern Recognition Letters
Year:
2005

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Abstract

In this paper, a skyline image detection algorithm is proposed for navigation of mobile vehicles or planes in mountainous environments. First, edge detection and subsequent binary thresholding are applied on the luminance component to obtain the edge map, from which a multi-stage graph is constructed for determining the skyline curve by using the dynamic programming (DP) algorithm. In optimal DP search, characteristics (e.g., preferred position and orientation) of the skyline are utilized to help in correct linking of curves. The tolerance in short breakage of skyline curve is considered for robustness consideration. Experiments show that the processing speed is fast (approximately 0.12-0.21 s for a 352x240 pixel image on a Pentium-M 1.3 GHz CPU) and promising for real-time applications.