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Recognition method of UAV railway track line based on computer vision

A technology of computer vision and railway tracks, which is applied in computer parts, calculation, character and pattern recognition, etc., can solve the problems of GPS position information error, sparse railway line coordinate information, and cannot be used as real-time local target position, and achieve low cost , Make up for the effect of insufficient positioning accuracy

Active Publication Date: 2022-03-11
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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  • Recognition method of UAV railway track line based on computer vision
  • Recognition method of UAV railway track line based on computer vision
  • Recognition method of UAV railway track line based on computer vision

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Embodiment

[0061] Such as 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 fra...

Embodiment 2

[0101] Such as 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...

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Abstract

The invention provides a computer vision-based method for identifying railway track lines of an unmanned aerial vehicle, belonging to the technical field of railway track line identification. The method uses the UAV airborne camera to obtain the video image of the railway track and preprocesses it; uses the pulse-coupled neural network method to identify the track line in the video image; uses the third-order Bézier curve fitting method to obtain the location of the track line. Straight line segment or curved segment; the local target point of the UAV flight is calculated according to the straight line segment or curved segment where the track line is located. The invention obtains the range of the railway track by identifying the railway track line, calculates the local target point of the flight in real time, realizes the autonomous flight of the UAV along the line, and makes up for the defect of insufficient GPS navigation positioning accuracy; based on computer vision, a single high-definition camera is used to Track lines are identified and maintained, no additional high-precision sensors are required, and the cost is low. It can be integrated with information such as dead reckoning, GPS or Beidou 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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Patent Type & Authority Patents(China)
IPC IPC(8): G06V10/25G06V20/10G06N3/063G06T7/11G06T7/136G06T7/187G06T7/70G06T7/90G06F17/16
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