It is important to stably extract horizon lines for sea-based infrared search and track. Most of the existing solutions for the problems only use single image to detect horizon line. Although this results in good accuracy for some images, it often fails to detect horizons in foggy, occluded environments. In this paper, we propose a novel horizon detection and tracking method that is robust to sensor vibrations and occlusions using image and sensor-based initial horizon detection and robust statistics. Local horizon optimization and tracking produce stable horizons in occluded environments. The experimental results validate the robustness of the proposed method in real infrared images.
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LED-IT Fusion Technology Research Center and Dept. of Electronic Engineering, Yeungnam University, 214-1 Dae-dong Gyeongsan-si Gyeongsangbuk-do, Korea;
