A Novel Autonomous Navigation Approach for UAV Power Line Inspection
Hui Xiaolong; Bian Jiang; Zhao Xiaoguang; Tan Min
2017-12
会议名称International Conference on Robotics and Biomimetics
会议录名称International Conference on Robotics and Biomimetics
会议日期2017-12
会议地点Macau SAR, China
摘要
This paper presents a novel autonomous navigation approach for high voltage transmission line inspection. For the achievement of robustly continuous navigation along transmission line, the inspection Unmanned Aerial Vehicle (UAV) system equipped with High Definition (HD) Pan Tilt Zoom (PTZ) and high performance embedded processors is constructed. In order to cope with complex background, a Detecting-Tracking Visual Strategy (DTVS) which consists of tower detection based on Faster Region-based Convolutional Neural Network (Faster RCNN) and tower tracking by Kernelized Correlation Filters (KCF) is developed. Further, a projective model retrieving threedimensional course from two-dimensional images along with a corresponding inspection path are proposed, which makes inspection more secure and robust. In particular, we implement a general ROS interface to facilitate the development of similar tasks which simultaneously integrate object detection and tracking. Finally, experiments are conducted and the results verify the effectiveness of the proposed navigation approach.
 
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20907
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Institute of Automation Chinese Academy of Sciences, University of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Hui Xiaolong,Bian Jiang,Zhao Xiaoguang,et al. A Novel Autonomous Navigation Approach for UAV Power Line Inspection[C],2017.
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
A Novel Autonomous N(10818KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Hui Xiaolong]的文章
[Bian Jiang]的文章
[Zhao Xiaoguang]的文章
百度学术
百度学术中相似的文章
[Hui Xiaolong]的文章
[Bian Jiang]的文章
[Zhao Xiaoguang]的文章
必应学术
必应学术中相似的文章
[Hui Xiaolong]的文章
[Bian Jiang]的文章
[Zhao Xiaoguang]的文章
相关权益政策
暂无数据
收藏/分享
文件名: A Novel Autonomous Navigation Approach for UAV Power Line Inspection.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。