Visual navigation for a power transmission line inspection robot

Authors:
Yunchu Zhang;Siyao Fu;Xiaoguang Zhao;Zize Liang;Min Tan;Yongqian Zhang
Affiliations:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China and School of Information and Electric Eng., Shandong University of Arc ...;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China;Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Venue:
ICIC'06 Proceedings of the 2006 international conference on Intelligent computing: Part II
Year:
2006

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Abstract

Inspection robot must plan its behavior to negotiate obstacles according to their types when it is crawling along the power transmission line. For this purpose, a visual navigation system is designed to recognize the obstacles and locate their positions by stereovision. We propose a structure-constrained obstacle recognition algorithm based on improved circle detection methods to recognize obstacles from complex background robustly. After the obstacle is recognized, a region based stereo matching algorithm is used to search the correspondence points in the stereo images, and the position of the obstacle relative to the robot is calculated by 3D reconstruction. Experiments with simulation and real transmission line show its effectiveness.