Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection

doi:10.1177/1729881417752821

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection
	Hui, Xiaolong; Bian, Jiang; Zhao, Xiaoguang; Tan, Min
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2018-01-21
卷号	15 期号:1 页码:1-15
关键词	Unmanned Aerial Vehicle Intelligent Inspection Three-dimensional (3-d) Perception Visual Navigation
DOI	10.1177/1729881417752821
文献子类	Article
英文摘要	This article presents an autonomous navigation approach based on a transmission tower for unmanned aerial vehicle (UAV) power line inspection. For this complex vision task, a perspective navigation model, which plays an important role in the description and analysis of the flight strategy, is introduced. Based on the proposed navigation model, valuable cues are excavated from a perspective image, which enhances the capability of the perception of three-dimensional direction and simultaneously improves the safety of intelligent inspection. Specifically, for robust and continuous localization of the transmission tower, a developed detecting-tracking visual strategycomprised tower detection based on a faster region-based convolutional neural network and tower tracking by kernelized correlation filtersis presented. Further, segmentation by fully convolutional networks is applied to the extraction of transmission lines, from which the vanishing point (VP), an important basis for determining the flight heading, can be obtained. For more robust navigation, the designed scheme addresses the scenario of a nonexistent VP. Finally, the proposed navigation approach and constructed UAV platform were evaluated in a practical environment and achieved satisfactory results. To the best of our knowledge, this article marks the first time that a navigation approach based on a transmission tower is proposed and implemented.
WOS关键词	VANISHING-POINT DETECTION ; FALSE DETECTION CONTROL ; SEGMENT DETECTOR ; FILTERS ; UAV
WOS研究方向	Robotics
语种	英语
WOS记录号	WOS:000422921400001
资助机构	National Natural Science Foundation of China(61673378 ; 61421004)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/20906]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Hui, Xiaolong
作者单位	Univ Chinese Acad Sci, Inst Automat, Chinese Acad Sci, 95 ZhongGuanCun East Rd, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,et al. Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-15.
APA	Hui, Xiaolong,Bian, Jiang,Zhao, Xiaoguang,&Tan, Min.(2018).Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-15.
MLA	Hui, Xiaolong,et al."Vision-based autonomous navigation approach for unmanned aerial vehicle transmission-line inspection".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-15.