Two-dimensional image auxiliary segmentation method based on three-dimensional point cloud of contact network cantilever system

A technology of 3D point cloud and 2D image, applied in image analysis, image enhancement, image data processing, etc., can solve the problems of large manpower and material resources, traffic interference, experience judgment influence, etc., to reduce the consumption of manpower and material resources and achieve high precision , good effect of noise immunity

Active Publication Date: 2019-11-19
SOUTHWEST JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

[0003] At present, mainly relying on manual maintenance and inspection of the catenary wrist-arm system will consume a lot of manpower and material resources, cause interference to driving, and will be affected by the weather and the experience and judgment of operators

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  • Two-dimensional image auxiliary segmentation method based on three-dimensional point cloud of contact network cantilever system
  • Two-dimensional image auxiliary segmentation method based on three-dimensional point cloud of contact network cantilever system
  • Two-dimensional image auxiliary segmentation method based on three-dimensional point cloud of contact network cantilever system

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] Such as figure 1 As shown, a 2D image-assisted segmentation method based on the 3D point cloud of the catenary wrist-arm system includes the following steps:

[0048] Step 1: Obtain the 3D point cloud data of the catenary wrist-arm system;

[0049] The depth camera is placed directly above the detection vehicle, and the camera is horizontal and tilted at a certain angle, such as figure 2 shown. The mobile inspection vehicle enables the entire wrist-arm system to obtain multi-frame point cloud data of the wrist-arm system in real time within the visible range of the depth camera, such as image 3 as shown, Figure 4 is the acquired frame of arm point cloud data.

[0050] Step 2: Use voxel filtering to uniformly resample the 3D point cloud data;

[0051] The process is as follows:

[0052] Using a straight-through filter, according...

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Abstract

The invention discloses a two-dimensional image auxiliary segmentation method based on three-dimensional point cloud of an overhead contact system cantilever system. The method comprises the followingsteps: step 1, acquiring three-dimensional point cloud data of the overhead contact system cantilever system; step 2, performing uniform resampling on the three-dimensional point cloud data by adopting voxel filtering; step 3, converting the uniformly resampled three-dimensional point cloud data of the cantilever system into a two-dimensional image; step 4, segmenting the two-dimensional image obtained in the step 3, then sequentially carrying out image closed operation and median filtering processing, and returning to the three-dimensional point cloud to obtain a segmentation result of eachlinear part of the three-dimensional point cloud of the cantilever system. According to the method, two-dimensional images are adopted for auxiliary segmentation, efficient segmentation results of alllinear parts of the overhead contact system cantilever system are finally returned, the method has the advantages of being good in noise immunity, high in robustness and high in precision, and the segmentation effect of the overhead contact system cantilever system is improved; and the consumption of manpower and material resources is reduced, and the influence of weather and experience judgmentof operators is avoided.

Description

technical field [0001] The invention relates to the field of high-speed railway catenary maintenance and detection, in particular to a two-dimensional image-assisted segmentation method based on a three-dimensional point cloud of a catenary wrist-arm system. Background technique [0002] With the vigorous development of electrified railways, the quality of train operation is also constantly improving. In order to ensure the high efficiency of train operation, high requirements are put forward for the stability and reliability of pantograph current receiving. Therefore, the rigid invariance of the wrist-arm system must be guaranteed. The loosening and displacement of the connecting parts of the wrist-arm system will, on the one hand, cause the catenary cable and the contact line to deviate from the original position, resulting in bowing and other phenomena; on the other hand, it will change the internal stress structure of the wrist-arm system, resulting in catenary Local o...

Claims

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Application Information

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IPC IPC(8): G06T7/136
CPCG06T7/136G06T2207/10028
Inventor 韩志伟杨长江游诚曦刘志刚
Owner SOUTHWEST JIAOTONG UNIV
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