Research on Active Recognition and Distance Perception of Obstacles Based on Fusion of Visual Image and 3D Point Cloud
To address the challenges related to obstacle active recognition and distance perception in the context of unmanned aeri-al vehicle automatic inspection of distribution lines and maintenance involving insulation layer coating,a method combining visual ima-ges and 3D point clouds for obstacle recognition was proposed.Data augmentation preprocessing was applied to enhance the dataset of images.A deep learning approach based on feature extraction was introduced for model training,enabling the recognition of obstacle cat-egories and orientations.Distance measurements for the detected targets were obtained by integrating 3D point cloud information.The ex-perimental results demonstrate that the obstacle active recognition and distance perception algorithm integrated with 3D point cloud and visual image can take into account the needs of real-time and accurate ranging,the accuracy of the system's early warning is improved,the maximum recognition error is 2.356%,which can help to improve the obstacle perception ability of unmanned aerial vehicle and ca-ble-coated robot,thus ensuring operational safety.
obstacle active recognition and distance perception algorithmvisual imagepoint cloudfusion algorithmobject detection
万方数据
维普
