Abstract
The article proposes new algorithms for estimating the coordinates of objects (both linear and angular) relative to the coordinate system related to the video camera. A two-step algorithm is proposed. At the first stage, the processing of images coming from the camera is performed – the selection of an area be-longing to the sea surface in the image, the detection and video tracking of objects, the determination of azimuth and elevation angles from the obtained images. Our approach is based on the representation of elevation and azimuth angles in the form of non-stationary autoregression models, recurrent estimation of their parameters and subsequent estimation of the object coordinates.
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