A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection
文献类型：期刊论文
| 作者 | Hui, Xiaolong ; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2019-02-24 |
| 卷号 | 16期号:1页码:16 |
| 关键词 | UAV safety navigation approach intelligent transmission-line inspection monocular vision |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/1729881419829941 |
| 通讯作者 | Hui, Xiaolong(huixiaolong2015@ia.ac.cn) |
| 英文摘要 | This article presents a monocular-based navigation approach for unmanned aerial vehicle safe and continuous inspection along one side of transmission lines. To this end, a navigation model based on the transmission tower and the transmission-line vanishing point was proposed, and the following three key issues were addressed. First, a deep-learning-based object detection and a fast and smooth tracking algorithm based on the kernelized correlation filter were combined to locate transmission tower timely and reliably. Second, the vanishing point of transmission lines was computed and optimized to provide unmanned aerial vehicle with a robust and precise flight direction. Third, to keep a stable safe distance from transmission lines, the transmission lines were first rectified by optimizing a homography matrix to eliminate the parallel distortion, and then their interval variation was estimated for reflecting the spatial distance variation. Finally, the real distance from transmission tower was measured by the triangulation across multiple views. The proposed navigation approach and the designed UAV platform were tested in a field environment, which achieved an encouraging result. To the best of authors' knowledge, this article marks the first time that a safe and continuous navigation approach along one side of transmission lines is put forward and implemented. |
| WOS关键词 | VANISHING-POINT |
| 资助项目 | National Natural Science Foundation of China[61673378,61421004] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000459554400001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25020]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Hui, Xiaolong |
| 作者单位 | Univ Chinese Acad Sci, Inst Automat, Chinese Acad Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,et al. A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(1):16. |
| APA | Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,&Tan, Min.(2019).A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(1),16. |
| MLA | Hui, Xiaolong,et al."A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.1(2019):16. |
入库方式： OAI收割
来源：自动化研究所
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