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Power transmission line identification and positioning method based on binocular camera and depth camera

A technology of depth camera and binocular camera, which is applied in three-dimensional object recognition, character and pattern recognition, computer parts and other directions, can solve the problems of low cable positioning accuracy and difficult target recognition, and improve the recognition success rate and accuracy High efficiency, low cost, high precision effect

Active Publication Date: 2020-06-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a power line identification and positioning method based on a binocular camera and a depth camera, so as to solve the problem of low cable positioning accuracy and difficulty in identifying targets in complex backgrounds in the prior art. The problem

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  • Power transmission line identification and positioning method based on binocular camera and depth camera
  • Power transmission line identification and positioning method based on binocular camera and depth camera

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

[0041] A method for identifying and positioning power lines based on a binocular camera and a depth camera. The method includes the following steps:

[0042] Obtain the color image and depth image of the cable in the depth camera;

[0043] Obtain the binocular image of the cable in the binocular camera;

[0044] Performing depth filtering on the depth image to obtain a filtered depth image;

[0045] Mapping the filtered depth image to a color image to obtain a mapped color image;

[0046] Mapping the mapped color image to a binocular image to obtain a filtered binocular image;

[0047] Processing the filtered binocular image to obtain the pixel coordinates of the cable edge;

[0048] Obtain corresponding ...

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Abstract

The invention discloses a power transmission line identification and positioning method based on a binocular camera and a depth camera. The invention belongs to the field of machine vision. A three-dimensional coordinate of a target is measured under a complex background; the binocular camera and the depth camera are fused; the method comprises the steps that firstly, a system is built; the systemis composed of the binocular camera and a Kinect depth camera, wherein the binocular camera collects a color image; the Kinect depth camera collects a color image and a depth image; the binocular image is matched with the Kinect image respectively; through the depth information of the depth camera, the image information outside a specified depth area in the binocular image is filtered, so that the filtering of the complex background in the binocular image is realized, and then the processed binocular image is processed, segmented and matched to obtain the three-dimensional coordinate and attitude information of a power transmission line.

Description

Technical field [0001] The invention belongs to the field of machine vision, and relates to a method for identifying and positioning power lines based on a binocular camera and a depth camera. Background technique [0002] At present, in the maintenance of high-voltage transmission lines in my country, manual maintenance methods are mainly used. Operators wear special tools to perform operations. During the operation, the operators are always in dangerous environments such as high voltage and strong electromagnetic fields. Strong danger and prone to accidents. With the continuous improvement of automation level, the use of distribution network live working robots has obvious advantages. However, most of the working robots used in the current power distribution lines are semi-automated, requiring workers to remotely control the robot to perform related operations. This makes it difficult for remote operations to complete complex and delicate tasks, such as disconnecting drainage l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/653G06V20/64G06V10/56Y04S10/50
Inventor 李开宇胡广亮田裕鹏朱鹏飞施金辰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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