| 摘要 |
A method, apparatus, and computer program product are presented for estimating a camera reference horizon Y<SUB>0</SUB>. Operations include receiving images including projections of objects including horizontal edges. Vertical motion is estimated for the images and is stored. The projection of horizontal edges in the images is computed. The projected edges are segmented out and motion is compensated. Projections of the horizontal edges from image to image are used to generate tracks. Active track storage is maintained by adding data to update the storage from each subsequent image. The tracks are screened using a criteria set to produce a subset of tracks to enhance track reliability. Distances to, and heights of, the objects are then estimated. Further screening is performed by calculating an error criteria for each track and selecting a subset satisfying the error criteria. The remaining tracks are used to generate a camera reference horizon estimate Y<SUB>0</SUB>.
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