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首页> 外文期刊>International Journal of Advanced Robotic Systems >Onboard visual-based navigation system for power line following with UAV
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Onboard visual-based navigation system for power line following with UAV

机译：基于无人机的电力线车载可视导航系统

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The details of an onboard visual-based navigation system that allows an unmanned aerial vehicle to perform power line following are presented in this article. A histogram of oriented segments method was developed to establish the main angle orientation of power lines. The histogram of oriented segment is also used to discard segments that are not power lines in the images. The components of the unmanned aerial vehicle flight system which include the platform configuration and the hardware used are also presented. A set of tests were designed to validate the methods and the overall system. The system was tested with a sequence of images taken from different perspectives in real inspection tasks. Tests were performed with images taken using an unmanned aerial vehicle with a camera, pointing vertically downward, and also using different kinds of cameras. The techniques developed for unmanned aerial vehicle navigation were employed over power lines using a multirotor. The results showed that a vision system based on the developed techniques is able to give important information to an unmanned aerial vehicle in order to perform autonomous flight missions.
机译：本文介绍了基于视觉的机载导航系统的详细信息，该系统允许无人驾驶飞机执行电力线跟踪。开发了定向线段直方图方法来建立电力线的主角定向。定向线段的直方图也用于丢弃不是图像中电源线的线段。还介绍了无人机飞行系统的组件，包括平台配置和所使用的硬件。设计了一组测试以验证方法和整个系统。在实际检查任务中，使用从不同角度拍摄的一系列图像对系统进行了测试。测试是使用带摄像头的无人机拍摄的图像进行的，垂直向下指向，还使用其他类型的摄像头。使用多旋翼在电力线上采用了为无人机导航开发的技术。结果表明，基于发达技术的视觉系统能够为无人驾驶飞机提供重要信息，以执行自主飞行任务。

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