Power transmission line identification and positioning method based on binocular camera and depth camera

Abstract

The invention discloses a power transmission line identification and positioning method based on a binocular camera and a depth camera. The invention belongs to the field of machine vision. A three-dimensional coordinate of a target is measured under a complex background; the binocular camera and the depth camera are fused; the method comprises the steps that firstly, a system is built; the systemis composed of the binocular camera and a Kinect depth camera, wherein the binocular camera collects a color image; the Kinect depth camera collects a color image and a depth image; the binocular image is matched with the Kinect image respectively; through the depth information of the depth camera, the image information outside a specified depth area in the binocular image is filtered, so that the filtering of the complex background in the binocular image is realized, and then the processed binocular image is processed, segmented and matched to obtain the three-dimensional coordinate and attitude information of a power transmission line.

Description

Technical field [0001] The invention belongs to the field of machine vision, and relates to a method for identifying and positioning power lines based on a binocular camera and a depth camera. Background technique [0002] At present, in the maintenance of high-voltage transmission lines in my country, manual maintenance methods are mainly used. Operators wear special tools to perform operations. During the operation, the operators are always in dangerous environments such as high voltage and strong electromagnetic fields. Strong danger and prone to accidents. With the continuous improvement of automation level, the use of distribution network live working robots has obvious advantages. However, most of the working robots used in the current power distribution lines are semi-automated, requiring workers to remotely control the robot to perform related operations. This makes it difficult for remote operations to complete complex and delicate tasks, such as disconnecting drainage l...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a power line identification and positioning method based on a binocular camera and a depth camera, so as to solve the problem of low cable positioning accuracy and difficulty in identifying targets in complex backgrounds in the prior art. The problem

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