Knowledge Commons of Institute of Automation,CAS
A Robust Vanishing Point Detection Method for UAV Autonomous Power Line Inspection | |
Bian, Jiang1,2; Hui, Xiaolong1,2; Zhao, Xiaoguang1; Tan, Min1 | |
2017-12 | |
会议名称 | IEEE International Conference on Robotics and Biomimetics |
会议日期 | 2017年12月4日 |
会议地点 | 中国澳门 |
摘要 | This paper presents a robust Vanishing Point (VP) detection method for Unmanned Aerial Vehicle (UAV) autonomous power line inspection. VP, an important visual cue for inspection navigation, is calculated by transmission lines. To achieve the robust extraction of transmission lines from the complex background, a neural-network-based line segmentation method (NNLS) is applied. From the segmented areas, further line extraction is carried out by Line Segment Detector (LSD) and Hough Transformation (HT). In addition, practical Random Sample Consensus (RANSAC) and line filter (LF) based on prior knowledge are adopted. Next the accurate vanishing point is calculated by linear least–squares followed by Levenberg–Marquardt (LM) optimization. For the verification of proposed method, an effective navigation model is developed. Finally, along with the constructed UAV platform, the entire system is tested on real inspection situations and achieves satisfactory results. |
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/173211/39029 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Bian, Jiang,Hui, Xiaolong,Zhao, Xiaoguang,et al. A Robust Vanishing Point Detection Method for UAV Autonomous Power Line Inspection[C],2017. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Robust Vanishing P(2615KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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