Undelayed Initialization Using Dual Channel Vision for Ego-Motion in Power Line Inspection  

作　　者：WU Hua WU Yanxiong LIU Changan YANG Guotian LI Zhichen 

机构地区：[1]School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China [2]Department of Disaster Prevention Apparatus,Institute of Disaster Prevention Science and Technology,Hebei 101601,China [3]China North Industries Corporation,Beijing 100821,China

出　　处：《Chinese Journal of Electronics》2016年第1期33-39,共7页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61105083);Program for New Century Excellent Talents in University(No.NCET-11-0634);the Fundamental Research Funds for the Central Universities(No.12ZX16);the Program of the Co-construction with Beijing Municipal of China(No.GJ2013005)

摘　　要：This paper presents a novel approach to the initialization of an ego-motion estimation technique for autonomous power line inspection. Dual channel vision, consisting of an infrared and optical camera, is typically adopted during inspection. The infrared camera is far more proficient at reliably detecting heated regions of the power tower which can be regarded as a prior relationship between the tower and cameras. Using the infrared camera, which is equipped parallel to the optical camera, an incomplete correspondence between the optical image and a 3D CAD model is established. Depending on the degree of correspondence, the initial pose of the CAD model in the optical image is estimated through two stages of coarseto-fine estimation. The primary contributions of this paper include: 1) using dual vision for partial initialization; 2) incorporating two-stage algorithms to estimate an accurate pose quickly; 3) implementing an algorithm which functions correctly regardless of the motion blur or background texture. Experimental results consistently show that the initial pose can be estimated efficiently and robustly.This paper presents a novel approach to the initialization of an ego-motion estimation technique for autonomous power line inspection. Dual channel vision, consisting of an infrared and optical camera, is typically adopted during inspection. The infrared camera is far more proficient at reliably detecting heated regions of the power tower which can be regarded as a prior relationship between the tower and cameras. Using the infrared camera, which is equipped parallel to the optical camera, an incomplete correspondence between the optical image and a 3D CAD model is established. Depending on the degree of correspondence, the initial pose of the CAD model in the optical image is estimated through two stages of coarseto-fine estimation. The primary contributions of this paper include： 1） using dual vision for partial initialization; 2） incorporating two-stage algorithms to estimate an accurate pose quickly; 3） implementing an algorithm which functions correctly regardless of the motion blur or background texture. Experimental results consistently show that the initial pose can be estimated efficiently and robustly.

关 键 词：Undelayed initialization 3D model Ego-motion Infrared and optical cameras Power line inspec-tion Drones. 

分 类 号：TM75[电气工程—电力系统及自动化]