主要用于空间视觉定位时，颜色空间的选择和区分背景与天空-When space is mainly used for visual orientation, color space selection and distinguish the background and sky

感知器算法，水天线检测。需要opencv2.4.6，请在其官网下载-water-sky line detect based on perception method.opencv2.4.6 lib is included. for more details, please connect csuliuyan@163.com

优化的对比度增强算法用于有雾图像的清晰化处理（算法效果稳定，且对天空具有天然的免疫力，极力推荐有需要的朋友研究）-Contrast enhancement algorithm optimized for a clear picture of the fog processing (arithmetic effect I see now the most stable, and has a natural immunity against the sky, strongly recommended

复杂背景下的图像识别，复杂背景包括森林，田地，天空，迷雾等等。(Complex background image recognition, complex background, including forests, fields, sky, fog, and so on.)