Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection

doi:10.1177/1729881417752821

	Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection
	Hui, Xiaolong; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2018-01-21
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
DOI	10.1177/1729881417752821
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	被引频次：47[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/20906
专题	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Vision-based autonom（2695KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载