The sea-sky-line edge detection method based on panoramic images

In order to realize automatic ship target detection with panoramic camera in the marine environment, a sea-sky-line extraction algorithm for panoramic image. Firstly, an improved canny edge detection method based on partition adaptive threshold was used. Then after edge thining, the sea-sky-line edge extraction algorithm was proposed based on the longest curve method and the ellipse fitting was performed to get the sea-sky-line elliptic equation. The experimental results prove that this method can effectively detect the sea-sky-line under complex sea-sky background. The success rate can be up to 93% and the time cost is 46ms/frame, which is robust and real-time.