The invention discloses an RF-CNN-based
power transmission line tree obstacle recognition and positioning method and device and a medium, and belongs to the technical field of
image processing, and the method comprises the steps: collecting data through a
laser radar system and an
RGB image collection device, carrying out the preprocessing of the collected data, carrying out the
feature fusion through an RF-CNN model, and carrying out the recognition and positioning of a tree obstacle. And training a multi-
task learning model to perform three-dimensional positioning of tree types and tree positions, performing classification through fused
feature data in tree identification, identifying different types of trees, positioning the position of each tree in a three-dimensional space, calculating
horizontal and vertical distances between the tree and the
power transmission line, and evaluating whether the tree forms a tree obstacle risk or not. According to the method, the defects of the prior art in the aspects of tree identification, positioning precision, tree obstacle
risk assessment and the like are effectively overcome, the efficiency, precision and reliability of tree obstacle monitoring are improved, and a powerful
technical support is provided for intelligent inspection and safety management of a
power transmission line.