The application discloses an unmanned aerial vehicle
horizon real-time detection method and
system based on improved YOLO segmentation, and relates to the technical field of
horizon detection, and comprises the following steps: S1, acquiring a front view image or a video
frame sequence of an unmanned aerial vehicle; S2, performing
sky region segmentation by using a lightweight
sky segmentation network; S3, extracting a low
sky boundary
point set from a sky
mask; S4, fitting a current frame
horizon parameter based on the low sky boundary
point set; S5, performing adaptive
time sequence smoothing processing based on boundary integrity; and S6, outputting the horizon parameter after
time sequence smoothing. The application adopts the unmanned aerial vehicle horizon real-time detection method and
system based on improved YOLO segmentation, extracts a sky region by using a lightweight sky segmentation network, reduces the horizon search range from a complex original image to a real demarcation region between the sky and the non-sky, and effectively reduces the interference of buildings, ground textures, cloud changes and complex background edges on the detection result.