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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
2006
发表期刊COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS
卷号4114页码:887-892
文章类型Article
摘要Inspection 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标题词Science & Technology ; Technology
收录类别ISTP ; SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence
WOS记录号WOS:000240083300111
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9276
专题09年以前成果
作者单位1.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
推荐引用方式
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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