{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T23:13:25Z","timestamp":1777590805558,"version":"3.51.4"},"reference-count":25,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2022,3,28]],"date-time":"2022-03-28T00:00:00Z","timestamp":1648425600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1909206, 61725305, T2121002"],"award-info":[{"award-number":["U1909206, 61725305, T2121002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Postdoctoral Innovative Talent Support Program","award":["BX2021010"],"award-info":[{"award-number":["BX2021010"]}]},{"name":"S&amp;T Program of Hebei","award":["F2020203037"],"award-info":[{"award-number":["F2020203037"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Obtaining a stable video sequence for cameras on surface vehicles is always a challenging problem due to the severe disturbances in heavy sea environments. Aiming at this problem, this paper proposes a novel hierarchical stabilization method based on real-time sea\u2013sky-line detection. More specifically, a hierarchical image stabilization control method that combines mechanical image stabilization with electronic image stabilization is adopted. With respect to the mechanical image stabilization method, a gimbal with three degrees of freedom (DOFs) and with a robust controller is utilized for the primary motion compensation. In addition, the electronic image stabilization method based on sea\u2013sky-line detection in video sequences accomplishes motion estimation and compensation. The Canny algorithm and Hough transform are utilized to detect the sea\u2013sky line. Noticeably, an image-clipping strategy based on prior information is implemented to ensure real-time performance, which can effectively improve the processing speed and reduce the equipment performance requirements. The experimental results indicate that the proposed method for mechanical and electronic stabilization can reduce the vibration by 74.2% and 42.1%, respectively.<\/jats:p>","DOI":"10.3390\/s22072587","type":"journal-article","created":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T21:45:51Z","timestamp":1648590351000},"page":"2587","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["A Hierarchical Stabilization Control Method for a Three-Axis Gimbal Based on Sea\u2013Sky-Line Detection"],"prefix":"10.3390","volume":"22","author":[{"given":"Zhanhua","family":"Xin","sequence":"first","affiliation":[{"name":"Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shihan","family":"Kong","sequence":"additional","affiliation":[{"name":"Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuquan","family":"Wu","sequence":"additional","affiliation":[{"name":"Institute of Software, Chinese Academy of Sciences, Beijing 100190, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gan","family":"Zhan","sequence":"additional","affiliation":[{"name":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-572X","authenticated-orcid":false,"given":"Junzhi","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Chen, C.H., Chen, T.Y., Hu, W.C., and Peng, M.Y. 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