Landmark observation model

Using the fact that the height h of an observed landmark is constant for any angle of the landmark plane (for a constant distance d), and the width w variates with the angle, the observed angle of the landmark plane can be calculated as:
α = acos(w/h)

Landmark recognition

I'm now working on implementing some of my master thesis I didn't have time to finish. Landmark recognition and distance to landmark, angle to landmark is now working, and only needs some tuning - the pixel classification is a bit too greedy.