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A monocular-based navigation approach for unmanned aerial vehicle safe and autonomous transmission-line inspection

机译：基于单目导航的无人机安全和自动传输线检查方法

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This article presents a monocular-based navigation approach for unmanned aerial vehicle safe and continuous inspection along one side of transmission lines. To this end, a navigation model based on the transmission tower and the transmission-line vanishing point was proposed, and the following three key issues were addressed. First, a deep-learning-based object detection and a fast and smooth tracking algorithm based on the kernelized correlation filter were combined to locate transmission tower timely and reliably. Second, the vanishing point of transmission lines was computed and optimized to provide unmanned aerial vehicle with a robust and precise flight direction. Third, to keep a stable safe distance from transmission lines, the transmission lines were first rectified by optimizing a homography matrix to eliminate the parallel distortion, and then their interval variation was estimated for reflecting the spatial distance variation. Finally, the real distance from transmission tower was measured by the triangulation across multiple views. The proposed navigation approach and the designed UAV platform were tested in a field environment, which achieved an encouraging result. To the best of authorsa?? knowledge, this article marks the first time that a safe and continuous navigation approach along one side of transmission lines is put forward and implemented.
机译：本文提出了一种基于单眼的导航方法，可沿传输线的一侧对无人机进行安全，连续的检查。为此，提出了基于输电塔和输电线路消失点的导航模型，并解决了以下三个关键问题。首先，结合了基于深度学习的目标检测和基于核化相关滤波器的快速平滑的跟踪算法，以及时可靠地定位输电塔。其次，对传输线的消失点进行了计算和优化，以为无人机提供稳定而精确的飞行方向。第三，为了保持与传输线的稳定安全距离，首先通过优化单应性矩阵以消除平行失真来校正传输线，然后估计它们的间隔变化以反映空间距离变化。最终，通过跨多个视图的三角测量来测量距输电塔的实际距离。提出的导航方法和设计的无人机平台在野外环境中进行了测试，取得了令人鼓舞的结果。为了作者的最好？认识到这一点，本文标志着首次提出并实施了沿传输线一侧的安全连续导航方法。

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