The invention discloses an unmanned aerial vehicle routing inspection line adaptive obstacle detection method and
system based on a
monocular camera. The method comprises the steps of obtaining initial flight parameters, evaluating and optimizing the flight parameters based on scene complexity, collecting an original
image sequence and carrying out quality evaluation and
exposure compensation. Constructing a multi-resolution feature
pyramid, extracting feature descriptors, and performing
feature matching and
verification; performing multi-constraint
pose optimization and depth
estimation based on a
feature matching result, and reconstructing a three-dimensional
point cloud; calculating direction enhancement response to extract a power line candidate area, performing multi-view
line segment matching and three-dimensional reconstruction, and analyzing dynamic characteristics of the power line; and based on the power line three-dimensional model and the
depth map, carrying out obstacle segmentation, calculating an obstacle distance, evaluating a
risk level, and generating early warning information and a monitoring scheme. According to the invention, different scenes can be adaptively processed, the obstacle risk can be accurately identified and evaluated, and the inspection efficiency and reliability are improved.