CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A Novel Autonomous Navigation Approach for UAV Power Line Inspection
Hui Xiaolong; Bian Jiang; Zhao Xiaoguang; Tan Min
2017-12
Conference NameInternational Conference on Robotics and Biomimetics
Source PublicationInternational Conference on Robotics and Biomimetics
Issue10
Conference Date2017-12
Conference PlaceMacau SAR, China
Abstract
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.
 
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20907
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHui Xiaolong
AffiliationInstitute of Automation, Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Hui Xiaolong,Bian Jiang,Zhao Xiaoguang,et al. A Novel Autonomous Navigation Approach for UAV Power Line Inspection[C],2017.
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