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Unmanned aerial vehicle railway track line recognition method based on computer vision

A technology of computer vision and railway track, applied in computer parts, calculation, character and pattern recognition, etc., can solve the problems of sparse railway line coordinate information, GPS position information error, and inability to be used as real-time local target position, etc., to achieve complementary positioning The effect of insufficient precision and low cost

Active Publication Date: 2019-11-29
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] To realize autonomous UAV line inspection, it is first necessary to realize its autonomous flight along the route. At present, most UAV flights use GPS navigation and positioning, but the GPS position information will produce certain errors due to the influence of the satellite itself, the signal propagation process, and the ground receiving equipment, and The coordinate information of the railway line is sparse and cannot be used as a real-time local target position

Method used

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  • Unmanned aerial vehicle railway track line recognition method based on computer vision
  • Unmanned aerial vehicle railway track line recognition method based on computer vision
  • Unmanned aerial vehicle railway track line recognition method based on computer vision

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Embodiment

[0061] like Figure 1 to Figure 2 As shown, the embodiment of the present invention provides a computer vision-based UAV railway track line identification method, including the following process steps:

[0062] Step S110: using the UAV onboard camera to obtain the video image of the railway track, and perform preprocessing;

[0063] Step S120: Using the pulse-coupled neural network method to identify the track lines in the video image;

[0064] Step S130: using a third-order Bezier curve fitting method to obtain the straight line segment or curve segment where the track line is located;

[0065] Step S140: Calculate and obtain the local target point of the UAV flight according to the straight line segment or the curved segment where the track line is located.

[0066] Preferably, the preprocessing in step S110 includes: using white balance to eliminate the influence of ambient light; extracting the region of interest according to the recognition result of the previous frame;...

Embodiment 2

[0101] like image 3 As shown, Embodiment 2 of the present invention provides a computer vision-based UAV railway track line identification method, including the following process steps:

[0102] Step S1. Obtain the video image of the railway track through the on-board camera, and perform preprocessing, including:

[0103] (1) White balance processing. The gray world method is used to eliminate the influence of ambient light, and the average value of the three components of R, G, and B in the image tends to the same gray value after transformation.

[0104] (2) Extract the region of interest. If the image is the first frame or when there is no recognition result in the previous frame, take the lower half of the image; if there is a recognition result in the previous frame, take the ordinate of the vanishing point as the upper bound and the bottom of the image as the lower bound, by The two linear shapes expand outward, extracting the trapezoidal area near the recognition re...

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Abstract

The invention provides an unmanned aerial vehicle railway track line recognition method based on computer vision, and belongs to the technical field of railway track line recognition. The method comprises the following steps: acquiring a railway track video image by using an airborne camera of an unmanned aerial vehicle, and performing preprocessing; identifying a track line in the video image byusing a pulse coupling neural network method; obtaining a straight line segment or a curve segment where the track line is located by using a three-order Boltzz curve fitting method; and calculating according to the straight line segment or the curve segment where the track line is located to obtain a local target point of unmanned aerial vehicle flight. By identifying the railway track line, therailway track range is obtained, the local target point of flight is calculated in real time, the unmanned aerial vehicle flies along the line autonomously, and the defect of insufficient GPS navigation and positioning precision is overcome; based on computer vision, a single high-definition camera is adopted to identify and maintain a track line, an extra high-precision sensor is not needed, andthe cost is low. The method can be integrated with dead reckoning, GPS or Beidou and other information for comprehensive application.

Description

technical field [0001] The invention relates to the technical field of railway track line identification, in particular to a computer vision-based method for identifying railway track lines by an unmanned aerial vehicle. Background technique [0002] It is very important to ensure the safety of the railway operating environment. At present, the railway inspection work in my country basically relies on manual work. The railways in the western region, especially the railways into Tibet, have a harsh environment and complex terrain. The manual operation is extremely difficult, and the autonomous inspection of the track line based on the UAV is a promising solution. [0003] To realize autonomous UAV line inspection, it is first necessary to realize its autonomous flight along the route. At present, most UAV flights use GPS navigation and positioning, but the GPS position information will produce certain errors due to the influence of the satellite itself, the signal propagation ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06N3/063G06T7/11G06T7/136G06T7/187G06T7/70G06T7/90G06F17/16
CPCG06T7/90G06T7/11G06T7/187G06T7/70G06T7/136G06N3/063G06F17/16G06V20/182G06V10/25
Inventor 李晓峰郭玉新贾利民秦勇
Owner BEIJING JIAOTONG UNIV