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Pattern Recognition Letters
Volume 26, Issue 2, 15 January 2005, Pages 221-230
 
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doi:10.1016/j.patrec.2004.08.021    How to Cite or Link Using DOI (Opens New Window)
Copyright © 2004 Elsevier B.V. All rights reserved.

A robust dynamic programming algorithm to extract skyline in images for navigation

Wen-Nung Liea, Corresponding Author Contact Information, E-mail The Corresponding Author, Tom C.-I. Lina, Ting-Chih Lina and Keng-Shen Hungb

aDepartment of Electrical Engineering, National Chung Cheng University, 160 San-Hsing, Min-Hsiung, Chia-Yi 621, Taiwan, ROC bChung-Shan Institute of Science and Technology, Lung-Tan, Tao-Yuan 325, Taiwan, ROC

Received 21 August 2004. 
Available online 14 October 2004.

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Abstract

In this paper, a skyline image detection algorithm is proposed for navigation of mobile vehicles or planes in mountainous environments. First, edge detection and subsequent binary thresholding are applied on the luminance component to obtain the edge map, from which a multi-stage graph is constructed for determining the skyline curve by using the dynamic programming (DP) algorithm. In optimal DP search, characteristics (e.g., preferred position and orientation) of the skyline are utilized to help in correct linking of curves. The tolerance in short breakage of skyline curve is considered for robustness consideration. Experiments show that the processing speed is fast (approximately 0.12–0.21 s for a 352 × 240 pixel image on a Pentium-M 1.3 GHz CPU) and promising for real-time applications.

Keywords: Dynamic programming; Skyline extraction; Edge/contour linking

Article Outline

1. Introduction
2. Proposed algorithm for skyline extraction
3. Dynamic programming for skyline search
4. Computational complexity analysis
5. Experimental results
6. Conclusions
References







Pattern Recognition Letters
Volume 26, Issue 2, 15 January 2005, Pages 221-230
 
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