Obstacle Recognition and Localization Based on the Monocular Vision for Double Split Transmission Lines Inspection Robot

Caishi Hu, Gongping Wu, Heng Cao, Xiaohui Xiao
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引用次数: 8

Abstract

Obstacle recognition and location is one of the key techniques for the autonomous transmission line inspection robot. Considering the structure of 220kV double split transmission line, a method of obstacle recognition and location based on the monocular vision is proposed. First of all, capture the image located ahead of the inspection robot with camera, and recognize such obstacles as spacer, counterweight, etc in the image. Then build the geometric model of ranging using the position relation of obstacle’s location center and camera, and calibrate the camera’s intrinsic parameters. At last, put the parameters obtained by calibration into ranging formula to perform the ranging tests. The tests indicate that the method can recognize and locate the obstacles effectively.
基于单目视觉的双分路输电线路巡检机器人障碍物识别与定位
障碍物识别与定位是自主巡检机器人的关键技术之一。针对220kV双分路输电线路的结构,提出了一种基于单目视觉的障碍物识别与定位方法。首先,用摄像机捕捉位于巡检机器人前方的图像,识别图像中的间隔物、配重物等障碍物。然后利用障碍物定位中心与摄像机的位置关系建立测距几何模型,并标定摄像机的固有参数。最后,将标定得到的参数代入测距公式进行测距试验。实验表明,该方法能有效地识别和定位障碍物。
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