Paper Info
Title
A Novel Monocular-Based Navigation Approach For Uav Autonomous Transmission-Line Inspection
Abstract
This paper proposes a unique and robust UAV autonomous navigation approach along one side of overhead transmission lines for inspection. To this end, we establish a perspective model and develop a novel Pan/Tilt monocular-based navigation scheme. Simultaneously, the following three key issues are addressed. First, to locate the effective landmark - transmission tower timely and reliably, we customize a neural network for tower detection and combine it with a fast and smooth tracking. Second, to provide UAV with a robust and precise heading, we detect the transmission lines and compute and optimize their vanishing point. Third, to keep a safe distance from transmission lines, we optimize a homography matrix to restore the parallel nature of transmission lines and perceive the distance variation by a point set registration model. Finally, by the designed UAV platform, we test the whole system in a real-world transmission-line inspection scenario under different weather condition and achieve an encouraging result(1). Our approach provides great flexibility for refined inspection and effectively improves inspection safety.
Year
DOI
Venue
2018
10.1109/IROS.2018.8593926
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Computer vision,Point set registration,Transmission line,Computer science,Transmission tower,Electric power transmission,Homography,Artificial intelligence,Monocular,Landmark,Vanishing point
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Jiang Bian189761.74
Xiaolong Hui200.68
Xiaoguang Zhao35418.68
Min Tan42342201.12