diff --git a/CMakeLists.txt b/CMakeLists.txt
index 77f1305..0a0a2d2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,6 +69,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
@@ -108,6 +109,7 @@ set(
   include/sv_common_det.h
   include/sv_landing_det.h
   include/sv_tracking.h
+  include/sv_color_line.h
   include/sv_video_input.h
   include/sv_video_output.h
   include/sv_world.h
@@ -148,10 +150,13 @@ set(spirecv_SRCS
   algorithm/common_det/sv_common_det.cpp
   algorithm/landing_det/sv_landing_det.cpp
   algorithm/tracking/sv_tracking.cpp
+  algorithm/color_line/sv_color_line.cpp
 )
 
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
+file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line/*.cpp)
+list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/video_io/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/utils/*.cpp)
@@ -252,6 +257,8 @@ add_executable(LandingMarkerDetection samples/demo/landing_marker_detection.cpp)
 target_link_libraries(LandingMarkerDetection sv_world)
 add_executable(SingleObjectTracking samples/demo/single_object_tracking.cpp)
 target_link_libraries(SingleObjectTracking sv_world)
+add_executable(ColorLineDetection samples/demo/color_line_detect.cpp)
+target_link_libraries(ColorLineDetection sv_world)
 add_executable(UdpDetectionInfoReceiver samples/demo/udp_detection_info_receiver.cpp)
 target_link_libraries(UdpDetectionInfoReceiver sv_world)
 add_executable(UdpDetectionInfoSender samples/demo/udp_detection_info_sender.cpp)
diff --git a/algorithm/color_line/sv_color_line.cpp b/algorithm/color_line/sv_color_line.cpp
new file mode 100644
index 0000000..671423a
--- /dev/null
+++ b/algorithm/color_line/sv_color_line.cpp
@@ -0,0 +1,252 @@
+#include "sv_color_line.h"
+#include "gason.h"
+#include "sv_util.h"
+#include <cmath>
+#include <fstream>
+
+
+namespace sv {
+ColorLineDetector::ColorLineDetector()
+{
+    this->is_load_parameter = false;
+}
+
+ColorLineDetector::~ColorLineDetector()
+{
+}
+
+void ColorLineDetector::_load()
+{
+  JsonValue all_value;
+  JsonAllocator allocator;
+  _load_all_json(this->alg_params_fn, all_value, allocator);
+
+  JsonValue colorliner_params_value;
+  _parser_algorithm_params("ColorLineDetector", all_value, colorliner_params_value);
+  
+  for (auto i : colorliner_params_value) {
+  if ("line_color" == std::string(i->key)) {
+      this->line_color = i->value.toString();
+      std::cout << "line_color: " << this->line_color << std::endl;
+    }
+  else if ("line_location" == std::string(i->key)) {
+      this->line_location = i->value.toNumber();
+    }
+  else if ("line_location_a1" == std::string(i->key)) {
+      this->line_location_a1 = i->value.toNumber();
+    }
+  else if ("line_location_a2" == std::string(i->key)) {
+      this->line_location_a2 = i->value.toNumber();
+    }
+
+  }
+
+}
+
+void ColorLineDetector::get_line_area(cv::Mat &frame, cv::Mat &line_area, cv::Mat &line_area_a1, cv::Mat &line_area_a2) {
+  
+    int h = frame.rows;
+    half_h = h / 2.0;
+    half_w = frame.cols / 2.0;
+    int l1 = int(h * (1 - line_location - 0.05));
+    int l2 = int(h * (1 - line_location));
+    line_area = frame(cv::Range(l1, l2), cv::Range::all());
+
+    l1 = int(h * (1 - line_location_a1 - 0.05));
+    l2 = int(h * (1 - line_location_a1));
+    line_area_a1 = frame(cv::Range(l1, l2), cv::Range::all());
+    cy_a1 = l1;
+
+    l1 = int(h * (1 - line_location_a2 - 0.05));
+    l2 = int(h * (1 - line_location_a2));
+    cy_a2 = l1;
+    line_area_a2 = frame(cv::Range(l1, l2), cv::Range::all());
+}
+
+float ColorLineDetector::cnt_area(std::vector<cv::Point> cnt) {
+    float area = cv::contourArea(cnt);
+    return area;
+}
+
+void ColorLineDetector::seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat line_area_a2, std::string _line_color, cv::Point &center, int &area, cv::Point &center_a1, cv::Point &center_a2) {
+    int hmin, smin, vmin, hmax, smax, vmax;
+    if (_line_color == "black") {
+        hmin = 0;
+        smin = 0;
+        vmin = 0;
+        hmax = 180;
+        smax = 255;
+        vmax = 46;
+    }
+    else if (_line_color == "red") {
+        hmin = 0;
+        smin = 43;
+        vmin = 46;
+        hmax = 10;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "yellow") {
+        hmin = 26;
+        smin = 43;
+        vmin = 46;
+        hmax = 34;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "green") {
+        hmin = 35;
+        smin = 43;
+        vmin = 46;
+        hmax = 77;
+        smax = 255;
+        vmax = 255;
+    }
+    else if (_line_color == "blue") {
+        hmin = 100;
+        smin = 43;
+        vmin = 46;
+        hmax = 124;
+        smax = 255;
+        vmax = 255;
+    }
+    else {
+        hmin = 0;
+        smin = 0;
+        vmin = 0;
+        hmax = 180;
+        smax = 255;
+        vmax = 46;
+    }
+
+    cv::cvtColor(line_area, line_area, cv::COLOR_BGR2HSV);
+    cv::inRange(line_area, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area);
+	
+    cv::Mat kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
+    cv::morphologyEx(line_area, line_area, cv::MORPH_OPEN, kernel);
+    
+    std::vector<std::vector<cv::Point>> contours;
+    std::vector<cv::Vec4i> hierarchy;
+    cv::findContours(line_area, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
+   
+    if (contours.size() > 0) {
+        cv::Rect rect = cv::boundingRect(contours[0]);
+        int cx = rect.x + rect.width / 2;
+        int cy = rect.y + rect.height / 2;
+        std::sort(contours.begin(), contours.end(),[](const std::vector<cv::Point>& a, const std::vector<cv::Point>& b) {return cv::contourArea(a) > cv::contourArea(b);});
+        area = cnt_area(contours[0]);
+        center = cv::Point(cx, cy);
+    }
+
+    cv::cvtColor(line_area_a1, line_area_a1, cv::COLOR_BGR2HSV);
+    cv::inRange(line_area_a1, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a1);
+
+    //cv2.MORPH_CLOSE 先进行膨胀，再进行腐蚀操作
+    kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
+    cv::morphologyEx(line_area_a1, line_area_a1, cv::MORPH_CLOSE, kernel);
+
+    std::vector<std::vector<cv::Point>> contours_a1;
+    cv::findContours(line_area_a1, contours_a1, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);      
+          
+    if (contours_a1.size() > 0) {
+        cv::Rect rect = cv::boundingRect(contours_a1[0]);
+        int cx = rect.x + rect.width / 2;
+        int cy = rect.y + rect.height / 2 + cy_a1;
+        center_a1 = cv::Point(cx - half_w, cy - half_h);
+    }
+
+    cv::cvtColor(line_area_a2, line_area_a2, cv::COLOR_BGR2HSV);
+    cv::inRange(line_area_a2, cv::Scalar(hmin, smin, vmin), cv::Scalar(hmax, smax, vmax), line_area_a2);
+    
+    kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
+    cv::morphologyEx(line_area_a2, line_area_a2, cv::MORPH_CLOSE, kernel);
+
+    std::vector<std::vector<cv::Point>> contours_a2;
+    cv::findContours(line_area_a2, contours_a2, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE);
+
+    if (contours_a2.size() > 0) {
+        cv::Rect rect = cv::boundingRect(contours_a2[0]);
+        int cx = rect.x + rect.width / 2;
+        int cy = rect.y + rect.height / 2 + cy_a2;
+        center_a2 = cv::Point(cx - half_w, cy - half_h);
+    }
+}
+
+void ColorLineDetector::detect(cv::Mat img, sv::TargetsInFrame& tgts_)
+{
+
+  if(!this->is_load_parameter)
+  {
+    _load();
+
+    this->is_load_parameter = true;
+  }
+  int area_n = -1;
+  cv::Mat area_base, area_base_a1, area_base_a2;
+  cv::Point cxcy_n(0, 0), center_a1_n(0,0), center_a2_n(0, 0);
+
+  get_line_area(img, area_base, area_base_a1, area_base_a2);   
+  seg(area_base, area_base_a1, area_base_a2, line_color, cxcy_n, area_n, center_a1_n, center_a2_n);
+  pose.x = 0.0;
+  pose.y = -1.0;
+  pose.z = 0.0;
+
+           
+  if (area_n > 0)
+  {
+      circle(area_base, cv::Point(cxcy_n.x, cxcy_n.y), 4, cv::Scalar(0, 0, 255), -1);                             
+      double angle = (cxcy_n.x - this->camera_matrix.at<double>(0, 2)) / this->camera_matrix.at<double>(0, 2) * atan((double)(area_base.rows / 2) / this->fov_x);            
+      pose.x = angle;
+      pose.y = 1.0;
+  }
+  else
+  {
+      cv::Point cxcy__n(0, 0), center_a1__n(0, 0), center_a2__n(0, 0);
+      seg(area_base, area_base_a1, area_base_a2, line_color, cxcy__n, area_n = 0, center_a1__n, center_a2__n);
+      if (area_n > 0)
+      {
+        circle(area_base, cv::Point(cxcy_n.x, cxcy_n.y), 4, cv::Scalar(0, 0, 255), -1);
+        double angle = (cxcy_n.x - this->camera_matrix.at<double>(0, 2)) / this->camera_matrix.at<double>(0, 2) * atan((double)(area_base.rows / 2) / this->fov_x);
+        pose.x = angle;
+        pose.y = 1.0;
+        pose.z = 0.0;
+       
+      }
+  }
+
+  tgts_.setSize(img.cols, img.rows);
+  tgts_.setFOV(this->fov_x, this->fov_y);
+  auto t1 = std::chrono::system_clock::now();
+  tgts_.setFPS(1000.0/std::chrono::duration_cast<std::chrono::milliseconds>(t1- this->_t0).count());
+  this->_t0 = std::chrono::system_clock::now();
+  tgts_.setTimeNow();
+
+  
+  if(area_n > 0)
+  {
+    Target tgt;
+    tgt.los_ax = pose.x;
+    if(cxcy_n.x !=0 || cxcy_n.y !=0)
+    {
+        tgt.cx = cxcy_n.x;
+        tgt.cy = cxcy_n.y;
+    }
+    else if(center_a1_n.x != 0 || center_a1_n.y != 0)
+    {
+        tgt.cx = center_a1_n.x;
+        tgt.cy = center_a1_n.y;
+    }    
+     else if(center_a2_n.x != 0 || center_a2_n.y != 0)
+    {
+        tgt.cx = center_a2_n.x;
+        tgt.cy = center_a2_n.y;
+    }  
+    
+    tgts_.targets.push_back(tgt);
+  }
+
+
+}
+
+}
+
diff --git a/include/sv_color_line.h b/include/sv_color_line.h
new file mode 100644
index 0000000..2ebfe85
--- /dev/null
+++ b/include/sv_color_line.h
@@ -0,0 +1,48 @@
+#ifndef __SV_COLOR_LINE__
+#define __SV_COLOR_LINE__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <string>
+#include <chrono>
+
+
+
+namespace sv {
+
+class ColorLineDetector : public CameraAlgorithm
+{
+public:
+  ColorLineDetector();
+  ~ColorLineDetector();
+
+  void detect(cv::Mat img_, TargetsInFrame& tgts_);
+  
+protected:
+
+  float cy_a1;
+  float cy_a2;
+  float half_h;
+  float half_w;
+
+  cv::Mat img;
+  cv::Point3d pose;
+
+  double line_location;
+  double line_location_a1;
+  double line_location_a2;
+
+  bool is_load_parameter;
+
+  std::string line_color;
+
+  void _load();
+  float cnt_area(std::vector<cv::Point> cnt);
+  void get_line_area(cv::Mat &frame, cv::Mat &line_area, cv::Mat &line_area_a1, cv::Mat &line_area_a2);
+  void seg(cv::Mat line_area, cv::Mat line_area_a1, cv::Mat line_area_a2, std::string _line_color, cv::Point &center, int &area, cv::Point &center_a1, cv::Point &center_a2);
+  
+};
+
+
+}
+#endif
\ No newline at end of file
diff --git a/include/sv_world.h b/include/sv_world.h
index 5746122..14fccd1 100644
--- a/include/sv_world.h
+++ b/include/sv_world.h
@@ -5,6 +5,7 @@
 #include "sv_common_det.h"
 #include "sv_landing_det.h"
 #include "sv_tracking.h"
+#include "sv_color_line.h"
 #include "sv_video_input.h"
 #include "sv_video_output.h"
 
diff --git a/params/a-params/sv_algorithm_params.json b/params/a-params/sv_algorithm_params.json
index 81362a6..9e8e447 100644
--- a/params/a-params/sv_algorithm_params.json
+++ b/params/a-params/sv_algorithm_params.json
@@ -174,5 +174,14 @@
         "perspectiveRemovePixelPerCell": 4,
         "polygonalApproxAccuracyRate": 0.03,
         "useAruco3Detection": false
+
+    },
+    "ColorLineDetector": {
+        "line_color": "black",
+        "line_location": 0.5,
+        "line_location_a1": 0.3,
+        "line_location_a2": 0.7,
+    
+
     }
 }
diff --git a/samples/demo/color_line_detect.cpp b/samples/demo/color_line_detect.cpp
new file mode 100644
index 0000000..bd554eb
--- /dev/null
+++ b/samples/demo/color_line_detect.cpp
@@ -0,0 +1,69 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+using namespace sv;
+
+
+
+int main(int argc, char *argv[]) {
+  // 实例化 color line detection 检测器类
+  sv::ColorLineDetector cld;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  cld.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  
+  // 打开摄像头
+  sv::Camera cap;
+  cap.setWH(640, 480);
+  //cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  // 实例化OpenCV的Mat类，用于内存单帧图像
+  cv::Mat img;
+  int frame_id = 0;
+  while (1)
+  {
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像到img
+    cap.read(img);
+    cv::resize(img, img, cv::Size(cld.image_width, cld.image_height));
+
+    // 执行 color line detection 检测
+    cld.detect(img, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+
+    // 控制台打印 color line detection 检测结果
+    printf("Frame-[%d]\n", frame_id);
+    // 打印当前检测的FPS
+    printf("  FPS = %.2f\n", tgts.fps);
+    // 打印当前相机的视场角（degree）
+    printf("  FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
+    // 打印当前输入图像的像素宽度和高度
+    printf("  Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
+    for (int i=0; i<tgts.targets.size(); i++)
+    {
+    
+      // 打印每个 color_line 的中心位置，cx，cy的值域为[0, 1]，以及cx，cy的像素值
+      printf("  Color Line detect Center (cx, cy) = (%.3f, %.3f), in Pixels = ((%d, %d))\n",
+        tgts.targets[i].cx, tgts.targets[i].cy);
+
+      // 打印每个color_line的x_方向反正切值，跟相机视场相关
+      printf("  Color Line detect Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
+    
+    }
+
+       // 显示检测结果img
+    cv::imshow("img", img);
+    cv::waitKey(10);
+
+  }
+    
+ 
+    return 0;
+  }
+
+ 
+