  This paper proposes a new method for horizon detection called the multi-scale
cross modal linear feature. This method integrates three different concepts
related to the presence of horizon in maritime images to increase the accuracy
of horizon detection. Specifically it uses the persistence of horizon in
multi-scale median filtering, and its detection as a linear feature commonly
detected by two different methods, namely the Hough transform of edgemap and
the intensity gradient. We demonstrate the performance of the method over 13
videos comprising of more than 3000 frames and show that the proposed method
detects horizon with small error in most of the cases, outperforming three
state-of-the-art methods.
