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Visual Navigation for a Power Transmission Line Inspection Robot

  • Yunchu Zhang
  • Siyao Fu
  • Xiaoguang Zhao
  • Zize Liang
  • Min Tan
  • Yongqian Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4114)

Abstract

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.

Keywords

Power Line Stereo Match Correspondence Point Power Transmission Line Visual Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Yunchu Zhang
    • 1
    • 2
  • Siyao Fu
    • 1
  • Xiaoguang Zhao
    • 1
  • Zize Liang
    • 1
  • Min Tan
    • 1
  • Yongqian Zhang
    • 1
  1. 1.Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100080China
  2. 2.School of Information and Electric Engineering, Shandong University of Architecture and Engineering, Jinan 250101China

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