CASIA OpenIR
A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection
Hui, Xiaolong; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2019-02-24
Volume16Issue:1Pages:16
Corresponding AuthorHui, Xiaolong(huixiaolong2015@ia.ac.cn)
AbstractThis article presents a monocular-based navigation approach for unmanned aerial vehicle safe and continuous inspection along one side of transmission lines. To this end, a navigation model based on the transmission tower and the transmission-line vanishing point was proposed, and the following three key issues were addressed. First, a deep-learning-based object detection and a fast and smooth tracking algorithm based on the kernelized correlation filter were combined to locate transmission tower timely and reliably. Second, the vanishing point of transmission lines was computed and optimized to provide unmanned aerial vehicle with a robust and precise flight direction. Third, to keep a stable safe distance from transmission lines, the transmission lines were first rectified by optimizing a homography matrix to eliminate the parallel distortion, and then their interval variation was estimated for reflecting the spatial distance variation. Finally, the real distance from transmission tower was measured by the triangulation across multiple views. The proposed navigation approach and the designed UAV platform were tested in a field environment, which achieved an encouraging result. To the best of authors' knowledge, this article marks the first time that a safe and continuous navigation approach along one side of transmission lines is put forward and implemented.
KeywordUAV safety navigation approach intelligent transmission-line inspection monocular vision
DOI10.1177/1729881419829941
WOS KeywordVANISHING-POINT
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61673378,61421004]
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000459554400001
PublisherSAGE PUBLICATIONS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25021
Collection中国科学院自动化研究所
Corresponding AuthorHui, Xiaolong
AffiliationUniv Chinese Acad Sci, Inst Automat, Chinese Acad Sci, Beijing 100190, Peoples R China
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 monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(1):16.
APA Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,&Tan, Min.(2019).A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(1),16.
MLA Hui, Xiaolong,et al."A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.1(2019):16.
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