Research on the Registration Method of Visible Light Images and Laser Point Cloud Data for Unmanned Aerial Vehicle Inspection in the Power Industry
Currently,in order to improve the density and accuracy of daily inspections in the power transmission and transformation technology area,and significantly reduce the labor costs of operation and maintenance of power equipment,drone technology has been widely introduced into the inspection business in the power industry.And a large amount of visible light images and laser point cloud data of power transmission and transformation equipment have been obtained from drone onboard visible light imaging equipment and laser radar equipment yet.This paper proposes a registration method between visible light image data and laser point cloud data to address the issues of loss of depth information in two-dimensional visible light image data and obstacles in intelligent recognition of three-dimensional point cloud data.By manually selecting three-dimensional point clouds and data of two-dimensional pixel points for some feature point pairs,the parameter matrix T that associates the three-dimensional world with two-dimensional image points is solved using singular value decomposition(SVD)method.And the verification results show that the two-dimensional feature points transformed by the matrix T projection have a high degree of agreement with their corresponding three-dimensional feature points,which means a good registration accuracy.Based on this registration relationship,the fusion application of transmission and transformation inspection point cloud data and visible light data can be achieved.
Drone inspectionComputer visionVisible light imagesLaser point cloudData Registration
NETL
NSTL
万方数据
