【摘 要】
：
Celestial bodies and horizontal line could be imaged simultaneously by fish-eye camera,and then the inclination of vessel could be calculated by steps of horizontal line extraction and horizontal line
【机 构】
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Zhengzhou institute of surveying and mapping, HeNan, China, 450052
论文部分内容阅读
Celestial bodies and horizontal line could be imaged simultaneously by fish-eye camera,and then the inclination of vessel could be calculated by steps of horizontal line extraction and horizontal line fitting.However,some noise points may be mistaken for horizontal line points in extraction step.Meanwhile,the position of some points extracted from the image may have large error.To solve these problems,this paper firstly introduces the Robust Estimation,and based on it a horizontal line fitting algorithm has been established.The experiment shows that the model can effectively exclude the impact of noise points,limit utilize abnormal points,and take full advantage of high-precision horizontal line information,by which vessel inclination angle accuracy is improved from 46.4″ to 37.2″.
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