摘要： 针对着陆场不同天地场景中的地平线提取问题，结合Ostu方法与Hough变换，提出一种用于无人机着陆的地平线分步提取算法。在确定初始地平线的基础上，对其做粗化处理，得到目标地平线所在子图像域，在子图像域中完成最终目标的地平线提取。实验结果表明，该算法能准确有效地提取不同天地场景中的地平线。

关键词: Ostu算法, 地平线提取, Hough变换, 无人机着陆

Abstract: Aimed to extract the horizon from volatile sky/ground scene of the landing field, a horizon sequential extraction algorithm for Unmanned Aerial Vehicle(UAV) landing, which combines Ostu methods with Hough Transform is proposed in this paper. In the algorithm, basing on the original horizon determination, a subimage area, which includes the target horizon, is acquired by means of overstriking the original horizon. Experimental results show that the algorithm can accurately and effectively extract the horizon from different sky/ground scene.

Key words: Ostu algorithm, horizon extraction, Hough transform, Unmanned Aerial Vehicle(UAV) landing

中图分类号: 

• TP391