The invention discloses a multi-source information collaborative
power equipment three-dimensional temperature field construction method. Firstly, an
infrared camera, an IMU and a
laser radar are utilized to obtain an accurate external parameter relation through joint calibration,
point cloud distortion is eliminated, angular points and plane points are extracted, a re-projection residual error, a
distance sampling residual error and an IMU pre-integration residual error are constructed, an
error state iteration
Kalman filter is adopted to optimize a global
pose, and positioning is achieved. Providing a self-supervised depth completion network, combining an
infrared temperature image and a sparse
depth map generated by a
laser radar as input, adopting a depth completion strategy guided by an
infrared image, estimating
relative motion of adjacent frames by using
pose information, introducing a feature alignment module to reduce alignment errors, and combining the
depth map, the
infrared image and IMU data to obtain a self-supervised depth completion
algorithm; and efficient construction of the three-dimensional temperature field of the
power equipment is realized. According to the invention, the three-dimensional temperature field of the
power equipment is constructed more accurately, and the capability of the substation inspection
robot for state monitoring and fault diagnosis of the power equipment is improved.