Visual navigation for a power transmission line inspection robot
文献类型：期刊论文
| 作者 | Zhang, Yunchu; Fu, Siyao; Zhao, Xiaoguang ; Liang, Zize; Tan, Min; Zhang, Yongqian; Huang, DS; Li, K; Irwin, GW
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| 刊名 | COMPUTATIONAL INTELLIGENCE, PT 2, PROCEEDINGS
 |
| 出版日期 | 2006 |
| 卷号 | 4114页码:887-892 |
| 英文摘要 | 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 |
| 类目[WOS] | Computer Science, Artificial Intelligence |
| 研究领域[WOS] | Computer Science |
| 收录类别 | ISTP ; SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000240083300111 |
| 公开日期 | 2015-12-24 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9276]  |
| 专题 | 自动化研究所_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. |
入库方式： OAI收割
来源：自动化研究所
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