Research on UAV Intelligent Power Line Inspection Technology Based on Miniature LiDAR
A real-time power line detection algorithm based on light detection and ranging(LiDAR)is introduced.Point clouds are seg-mented by comparison of distances using planar analysis and a set of power line candidate points are extracted,which are fitted to line segments and further grouped for comparison based on their collinearity.The proposed method can make use of the collinearity of the image to complete the feature inspection,and can still obtain reliable inspection results under the environment of poor light conditions and complex line background.In this case,the maximum vertical mean error of power lines is 0.49 m,and the estimated mean error of all other lines is less than 0.07 m.In horizontal fitting,all mean errors are within 0.14 m.The validity and feasibility of the proposed in-telligent inspection method of power lines based on the UAV technology of miniature LiDAR are verified.
万方数据
维普
