Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection
Hui, Xiaolong; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
2018-01-21
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号15期号:1页码:1-15
文章类型Article
摘要This article presents an autonomous navigation approach based on a transmission tower for unmanned aerial vehicle (UAV) power line inspection. For this complex vision task, a perspective navigation model, which plays an important role in the description and analysis of the flight strategy, is introduced. Based on the proposed navigation model, valuable cues are excavated from a perspective image, which enhances the capability of the perception of three-dimensional direction and simultaneously improves the safety of intelligent inspection. Specifically, for robust and continuous localization of the transmission tower, a developed detecting-tracking visual strategycomprised tower detection based on a faster region-based convolutional neural network and tower tracking by kernelized correlation filtersis presented. Further, segmentation by fully convolutional networks is applied to the extraction of transmission lines, from which the vanishing point (VP), an important basis for determining the flight heading, can be obtained. For more robust navigation, the designed scheme addresses the scenario of a nonexistent VP. Finally, the proposed navigation approach and constructed UAV platform were evaluated in a practical environment and achieved satisfactory results. To the best of our knowledge, this article marks the first time that a navigation approach based on a transmission tower is proposed and implemented.
关键词Unmanned Aerial Vehicle Intelligent Inspection Three-dimensional (3-d) Perception Visual Navigation
WOS标题词Science & Technology ; Technology
DOI10.1177/1729881417752821
关键词[WOS]VANISHING-POINT DETECTION ; FALSE DETECTION CONTROL ; SEGMENT DETECTOR ; FILTERS ; UAV
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61673378 ; 61421004)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000422921400001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20906
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Hui, Xiaolong
作者单位Univ Chinese Acad Sci, Inst Automat, Chinese Acad Sci, 95 ZhongGuanCun East Rd, Beijing 100190, Peoples R China
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Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,et al. Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-15.
APA Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,&Tan, Min.(2018).Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-15.
MLA Hui, Xiaolong,et al."Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-15.
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