Knowledge Commons of Institute of Automation,CAS
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 |
期号 | 10 |
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.
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收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/20907 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Hui Xiaolong |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
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. A Novel Autonomous Navigation Approach for UAV Power Line Inspection[C],2017. |
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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 |
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