Visual navigation for a power transmission line inspection robot

CASIA OpenIR > 09年以前成果

	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
发表期刊	COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS
	2006
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.