A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection

doi:10.1177/1729881419829941

	A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection
	Hui, Xiaolong; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	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.
资助项目	National Natural Science Foundation of China[61673378,61421004]
WOS关键词	VANISHING-POINT
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000459554400001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25020]
专题	中国科学院自动化研究所
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.