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Rapid water-sky-line Detecting Algorithm in Marine Celestial Navigation

Rapid Water-Sky-Line Detecting Algorithm in Marine Celestial...

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第三届中国卫星导航学术年会

作者： Chonghui Li, Yong Zheng, Yulei Yuan, Yufei Yang Zhengzhou institue of surveying and mapping, HeNan, China, 450052

The determination of plumb line is one of the difficulties in marine ce- lestial navigation, and image process is usually used to resolve it. Existing algorithms such as Wavelet transform and Sobel operator have many disadvantages, the former is difficult to realize, and the later is time-consuming. In order to solve these problems, a rapid water-sky-line detecting algorithm was proposed, which includes such steps as resample, automatic threshold segmentation, Vector operator edge detecting, and Hough transform. Especially, the time-consuming of Vector operator is about 1/4 of existing algorithm such as Sobel operator. At last, all the steps were realized by VC++6.0, and then the idiographic image coordinate of water-sky-line is extracted rapidly and accurately.

关键词： water-sky-line resample threshold segmentation vector operator Hough transform

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Sub-pixel water-sky-line DetectionBased on a Curve Fitting Method

Sub-pixel Water-Sky-Line DetectionBased on a Curve Fitting M...

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第四届中国卫星导航学术年会

作者： Li Linyang Li Chonghui Zheng Yong Zhang Chao Zhengzhou institute of surveying and mapping

Celestial navigation is one essential means of the marine autonomous navigation, through taking photos of the water-sky-line, natural horizontal plane can be provided for celestial navigation system, and the precision of water-sky-linedetection influences the precision of positioning. Traditional edge detection algorithms can only achieve pixel precision, as for more precise position of the water-sky-line, those algorithms can’t achieve. In order to achieve sub-pixel detection, first two processes on the original image are needed, including median filtering and resample, then the pixel sketch coordinates are detected by Kirsch operator, finally an algorithm based on a curve fitting method is introduced, and sub-pixel coordinates are detected. According to experimental analyses, it is effective to half of the pixels;after eliminating outliers, the precision is about 0.5 pixels.

关键词： water-sky-line sub-pixel resample median filtering the least square adjustment curve fitting

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