摘要
针对无人机输电线路巡检中无人机与输电线路之间安全距离的测量问题,提出一种基于成像模型的单目视觉测量方法。采用图像处理技术,从无人机拍摄的图像中识别出无人机输电线路巡检中输电线杆塔,以此建立了输电线路的成像模型,并在已知输电线杆塔实际高度的前提下,由模型中的成像几何关系推导出了无人机距离输电线路竖直平面的安全距离。与传统的基于GPS坐标或基于激光测距的方法相比,降低了模型的计算复杂度和系统的硬件需求,提高了在复杂地理环境下系统的稳定性和检测精度。实验结果表明,该方法能准确测量安全距离且平均检测误差仅为2.63%。
Aiming at the problem of measuring the safe distance between UAV and transmission line,a new monocular camera method which based on imaging model is proposed. The method use the image processing technology to identify transmission line towers in the images which captured by the UAV. Then the imaging model of transmission line in UAV transmission line inspection is established. Once the actual height of towers is known,the safe distance between UAV and the vertical plane of transmission line can be calculated by using this imaging geometry model. Compared with the traditional method which based on GPS coordinates or laser ranging method,the method can reduce the computational complexity and hardware requirements of the system. And it can improve the stability and accuracy of the system. Experimental results show that the distance measuring average error is only 2. 63%.
出处
《广西大学学报（自然科学版）》
CAS
北大核心
2016年第2期498-505,共8页
Journal of Guangxi University（Natural Science Edition）
基金
国家自然科学基金资助项目(51177018)
广西科技攻关项目(桂科攻1598008-1)
