Abstract
Due to the high costs of obtaining images of power lines from different perspectives and the logistic problems of manned flights, it is useful to develop methods for visual based navigation by using UAVs. For this reason, visual based navigation strategies for UAV power line inspection are presented; a virtual environment for real time simulation was developed and a set of line detection methods were integrated and validated within the virtual environment. The first strategy is related with the obtaining of the initial pose of the UAV with respect to the power lines. The second strategy is for navigating over the power lines. The navigation is performed by using the information extracted from a virtual camera in a visual control scheme.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Li, Z., Walker, R., Hayward, R., Mejias, L.: Advances in Vegetation Management for Power Line Corridor Monitoring Using Aerial Remote Sensing Techniques. In: Proceedings of the First International Conference on Applied Robotics for the Power Industry (CARPI), pp. 1–6. IEEE (2010)
Heer, P.: Framework for Vision-Based Power Line Inspection with an UAV. Technical report (2012)
Lu, M., Sheng, G., Liu, Y., Jiang, X., Nie, S., Qu, G.: Inspection Based on Unmanned Aerial Vehicle. In: Power and Energy Engineering Conference (APPEEC) (2012)
Wang, B., Chen, X., Wang, Q., Liu, L., Zhang, H., Li, B.: Power line inspection with a flying robot. In: 2010 1st International Conference on Applied Robotics for the Power Industry (CARPI 2010), pp. 1–6. IEEE (2010)
Li, Z., Bruggemann, T.S., Ford, J.J., Mejias, L., Liu, Y.: Toward Automated Power Line Corridor Monitoring Using Advanced Aircraft Control and Multisource Feature Fusion. Journal of Field Robotics 29, 4–24 (2012)
Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., von Stryk, O.: Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) SIMPAR 2012. LNCS (LNAI), vol. 7628, pp. 400–411. Springer, Heidelberg (2012)
Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: USARSim: A robot simulator for research and education. In: IEEE International Conference on Robotics and Automation, pp. 1400–1405. IEEE (2007)
Dijkshoorn, N.: Integrating Sensor and Motion Models to Localize an Autonomous AR.Drone. International Journal of Micro Air Vehicles 3 (2011)
Dijkshoorn, N.: Simultaneous localization and mapping with the AR.Drone (2012)
Duda, R.O., Hart, P.E., Park, M.: Use of the Hough Transformation To Detect Lines and Curves in Pictures. Graphics and Image Processing 15, 11–15 (1972)
Burns, B., Hanson, A.R., Riseman, E.M.: Extracting Straight Lines. IEEE Transactions on Pattern Analysis and Machine Intelligence PAMI-8, 425–455 (1986)
Grompone von Gioi, R., Jakubowicz, J., Morel, J.M., Randall, G.: LSD: A Line Segment Detector. Image Processing on Line (2012)
Akinlar, C., Topal, C.: EDLines: A real-time line segment detector with a false detection control. Pattern Recognition Letters 32, 1633–1642 (2011)
Yao, X., Guo, L., Zhao, T.: Power Line Detection Based on Region Growing and Ridge-Based Line Detector. In: Sun, Z., Deng, Z. (eds.) Proceeding of 2013 Chinese Intelligent Automation Conference. LNEE, vol. 255, pp. 431–437. Springer, Heidelberg (2013)
Li, Z., Liu, Y., Hayward, R., Zhang, J., Cai, J.: Knowledge-based power line detection for UAV surveillance and inspection systems. In: 2008 23rd International Conference Image and Vision Computing, New Zealand, pp. 1–6 (2008)
Zhang, J., Liu, L., Wang, B., Chen, X., Zheng, Q.W.: High speed Automatic Power Line Detection and Tracking for a UAV-Based Inspection. In: International Conference on Industrial Control and Electronics Engineering (2012)
Liu, Y., Mejias, L., Li, Z.: Fast power line detection and localization using steerable filter for active uav guidance. In: 12th International Society for Photogrammetry & Remote Sensing (ISPRS 2012), vol. XXXIX, pp. 491–496 (2012)
Cheng, W., Song, Z.: Power Pole Detection Based on Graph Cut. In: 2008 Congress on Image and Signal Processing, pp. 720–724 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Cerón, A., Mondragón B., I.F., Prieto, F. (2014). Towards Visual Based Navigation with Power Line Detection. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2014. Lecture Notes in Computer Science, vol 8887. Springer, Cham. https://doi.org/10.1007/978-3-319-14249-4_79
Download citation
DOI: https://doi.org/10.1007/978-3-319-14249-4_79
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-14248-7
Online ISBN: 978-3-319-14249-4
eBook Packages: Computer ScienceComputer Science (R0)