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

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...

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Bibliographic Details
Published in2009 2nd International Congress on Image and Signal Processing pp. 1 - 5
Main Authors Caishi Hu, Gongping Wu, Heng Cao, Xiaohui Xiao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Calibration
Cameras
Image recognition
Inspection
Orbital robotics
Performance evaluation
Robot vision systems
Solid modeling
Testing
Transmission lines
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ISBN1424441293
9781424441297
DOI10.1109/CISP.2009.5303695

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Summary: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.
ISBN:1424441293
9781424441297
DOI:10.1109/CISP.2009.5303695