The invention discloses an unmanned aerial vehicle autonomous routing inspection conductor detection method and
system based on Bezier curve modeling. The method comprises the steps that a binocular
image sequence,
GPS positioning and IMU attitude data are collected through an unmanned aerial vehicle, synchronous alignment
processing is carried out on multi-
source data, a scene dynamic evaluation value is calculated, adaptive
image enhancement is executed, and space-time features are extracted and fused. Constructing a multi-scale feature
pyramid, extracting wire topological features, and generating enhanced features in combination with environment context information; and generating a
control point candidate set based on the enhanced features, optimizing Bezier curve parameters, and performing
time sequence consistency optimization. According to the invention, high-precision lead detection and robust tracking in a complex scene are realized, and the reliability of autonomous inspection of the unmanned aerial vehicle is improved; the key technical problems of scale change,
feature matching, dynamic modeling, data fusion, parameter optimization and the like in the wire detection process can be solved.