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HorizonNet for visual terrain navigation

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

This paper investigates the problem of position estimation of unmanned surface vessels (USVs) operating in coastal areas or in the archipelago. We propose a position estimation method where the horizon line is extracted in a 360 degree panoramic image around the USV. We design a CNN architecture to determine an approximate horizon line in the image and implicitly determine the camera orientation (the pitch and roll angles). The panoramic image is warped to compensate for the camera orientation and to generate an image from an approximately level camera. A second CNN architecture is designed to

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