The invention relates to a
power transmission corridor parameterization
reconstruction method fusing nonlinear geometric prior and semantic topology, and the method comprises the steps: obtaining
point cloud data, image data and IMU inertial data of a
power transmission corridor, carrying out the adaptive enhancement, and obtaining a high-dynamic-range image and time-synchronized
point cloud data; based on the
high dynamic range image, performing semantic segmentation by adopting a Wire-Aware BiSeNetV2 network to obtain a pixel-level semantic segmentation result, and dividing the
point cloud data subjected to
time synchronization into multiple types of semantic tags; based on the point
cloud data with the semantic tag, a semantic-guided decoupling state
estimation method is adopted for
processing, and the six-degree-of-freedom
pose of the unmanned aerial vehicle is obtained; and based on the six-degree-of-freedom
pose of the unmanned aerial vehicle, fitting is carried out by adopting a
catenary constrained parameterized mapping method, and drift correction is carried out to obtain parameters of the
power transmission corridor wire. Compared with the prior art, the method has the advantages of high precision, high robustness and the like.