# A horizon line annotation tool for streamlining autonomous sea navigation experiments

arXiv: https://arxiv.org/abs/2309.05262 · HTML: https://mlsanity.com/paper/2309.05262/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 49 references that are in the map.
- First posted on arXiv 11 Sep 2023.

## Builds on (most cited first, 1 of 1)

- [Video Processing from Electro-optical Sensors for Object Detection and Tracking in Maritime Environment: A Survey](https://mlsanity.com/paper/1611.05842/) (2016)

## Abstract (arXiv)

Horizon line (or sea line) detection (HLD) is a critical component in multiple marine autonomous navigation tasks, such as identifying the navigation area (i.e., the sea), obstacle detection and geo-localization, and digital video stabilization. A recent survey highlighted several weaknesses of such detectors, particularly on sea conditions lacking from the most extensive dataset currently used by HLD researchers. Experimental validation of more robust HLDs involves collecting an extensive set of these lacking sea conditions and annotating each collected image with the correct position and orientation of the horizon line. The annotation task is daunting without a proper tool. Therefore, we present the first public annotation software with tailored features to make the sea line annotation process fast and easy. The software is available at: https://drive.google.com/drive/folders/1c0ZmvYDckuQCPIWfh_70P7E1A_DWlIvF?usp=sharing