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Visual navigation for a power transmission line inspection robot
Zhang, Yunchu; Fu, Siyao; Zhao, Xiaoguang; Liang, Zize; Tan, Min; Zhang, Yongqian; Huang, DS; Li, K; Irwin, GW
Source PublicationCOMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS
2006
Volume4114Pages:887-892
SubtypeArticle
AbstractInspection robot must plan its behavior to negotiate obstacles according to their types when it is crawling along the power transmission line. For this purpose, a visual navigation system is designed to recognize the obstacles and locate their positions by stereovision. We propose a structure-constrained obstacle recognition algorithm based on improved circle detection methods to recognize obstacles from complex background robustly. After the obstacle is recognized, a region based stereo matching algorithm is used to search the correspondence points in the stereo images, and the position of the obstacle relative to the robot is calculated by 3D reconstruction. Experiments with simulation and real transmission line show its effectiveness.
WOS HeadingsScience & Technology ; Technology
Indexed ByISTP ; SCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000240083300111
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9276
Collection09年以前成果
Affiliation1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.Shandong Univ Architecture & Engn, Sch Informat & Elect Engn, Jinan 250101, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Yunchu,Fu, Siyao,Zhao, Xiaoguang,et al. Visual navigation for a power transmission line inspection robot[J]. COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS,2006,4114:887-892.
APA Zhang, Yunchu.,Fu, Siyao.,Zhao, Xiaoguang.,Liang, Zize.,Tan, Min.,...&Irwin, GW.(2006).Visual navigation for a power transmission line inspection robot.COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS,4114,887-892.
MLA Zhang, Yunchu,et al."Visual navigation for a power transmission line inspection robot".COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS 4114(2006):887-892.
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