Visual Data Driven Approach for Metric Localization in Substation

WU Hua; WU Yanxiong; LIU Chang'an; YANG Guotian

doi:10.1049/cje.2015.10.022

Volume 24 Issue 4

Turn off MathJax

Article Contents

Article Navigation > Chinese Journal of Electronics > 2015 > 24(4): 795-801

WU Hua, WU Yanxiong, LIU Chang'an, et al., “Visual Data Driven Approach for Metric Localization in Substation,” Chinese Journal of Electronics, vol. 24, no. 4, pp. 795-801, 2015, doi: 10.1049/cje.2015.10.022

Citation:

WU Hua, WU Yanxiong, LIU Chang'an, et al., “Visual Data Driven Approach for Metric Localization in Substation,” Chinese Journal of Electronics, vol. 24, no. 4, pp. 795-801, 2015, doi: 10.1049/cje.2015.10.022

Citation:

PDF( 1093 KB)

Visual Data Driven Approach for Metric Localization in Substation

doi: 10.1049/cje.2015.10.022

1.
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China;
2.
Department of Disaster Prevention Apparatus, Institute of Disaster Prevention, Beijing 101601, China

Funds: This work is supported by the National Natural Science Foundation of China (No.61105083), Program for New Century Excellent Talents in University (No.NCET-11-0634), and the Fundamental Research Funds for the Central Universities (No.12ZX16).

Received Date: 2014-04-01
Rev Recd Date: 2014-07-14
Publish Date: 2015-10-10

Abstract

Abstract

To localize inspection robot in an in-service substation costs much. How to discriminate its location among highly similar scenes is the main problem of localizing robot in the substation using vision. A novel approach for visual localization using image retrieval and multi-view geometry is proposed. It is applicable for autonomous inspection of in-service substation without additional modifications of the environment. The experimental results demonstrate the efficiency and reliability of our approach. They have been further discussed by means of parameters for image description, number of neighbouring images for coordinates estimation, training dataset selection and performance evaluation. They verified that our approach is a cost-effective solution to robot localization in in-service substation.
- In-service substation inspection robot,
- Image retrieval,
- Multi-view geometry,
- Coordinates estimation

FullText(HTML)

References(26)

References

R.A. Newcombe, S.J. Lovegrove and A.J. Davison, "DTAM: Dense tracking and mapping in real-time", IEEE International Conference on Computer Vision, pp.2320-2327, 2011.

E. Eade and T. Drummond, "Edge landmarks in monocular SLAM", British Machine Vision Conference, Edinburgh, Scotland, UK, 2006.

J. Sola, T. Vidal-Calleja, J. Civera and J.M.M. Montiel, "Impact of landmark parametrization on monocular EKF-SLAM with points and lines", International Journal of Computer Vision, Vol.97, pp.339-368, 2012.

A.J. Davison, I.D. Reid, N.D. Molton and O.A.S.O. Stasse, "MonoSLAM: Real-time single camera SLAM", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.29, pp.1052-1067, 2007.

E. Eade and D. Tom, "Scalable Monocular SLAM", Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Vol.1, pp.469-476, 2006.

H. Wu and S.Y. Qin, "An approach to robot SLAM based on incremental appearance learning with omnidirectional vision", International Journal of Systems Science, Vol.42, pp.407-427, 2011.

R. Paul and P. Newman, "FAB-MAP 3D: Topological mapping with spatial and visual appearance", 2010 IEEE International Conference on Robotics and Automation (ICRA), pp.2649- 2656, 2010.

D. Scaramuzza and R. Siegwart, "Appearance guided monocular omnidirectional visual odometry for outdoor ground vehicles", IEEE Transactions on Robotics, Special Issue on Visual SLAM, Vol.24, pp.1015-1026, 2008.

M. Cummins and P. Newman, "Appearance-only SLAM at large scale with FAB-MAP 2.0", The International Journal of Robotics Research, Vol.30, pp.1100-1123, 2011.

K. Konolige, J. Bowman, J. Chen, P. Mihelich, M. Calonder, V. Lepetit and P. Fua, "View-based maps", The International Journal of Robotics Research, Vol.29, pp.941-957, 2010.

M. Blosch, S. Weiss, D. Scaramuzza and R. Siegwart, "Vision based MAV navigation in unknown and unstructured environments", Robotics and automation (ICRA), 2010 IEEE International Conference on, IEEE, pp.21-28, 2010.

R. Valencia Carreno, J. Andrade-Cetto and J.M. Porta Pleite, "Path planning in belief space with pose SLAM", 2011 IEEE International Conference on Robotics and Automation (ICRA), pp.78-83, 2011.

R. Guo, L. Han, Y. Sun and M. Wang, "A mobile robot for inspection of substation equipments", 1st International Conference on Applied Robotics for the Power Industry (CARPI), IEEE, pp.1-5, 2010.

J. McDonald, M. Kaess, C. Cadena, J. Neira and J.J. Leonard, "Real-time 6-DOF multi-session visual SLAM over large-scale environments", Robotics and Autonomous Systems, Vol.61, pp.1144-1158, 2013.

F.M. Campos, L. Correia and J.M.F. Calado, "Global localization with non-quantized local image features", Robotics and Autonomous Systems, Vol.60, pp.1011-1020, 2012.

R. Guo, P. Xiao, L. Han and X. Cheng, "GPS and DR integration for robot navigation in substation environments", Information and Automation (ICIA), 2010 IEEE International Conference on, IEEE, pp.2009-2012, 2010.

B. Bacca, J. Salvi and X. Cuf, "Long-term mapping and localization using feature stability histograms", Robotics and Autonomous Systems, Vol.61, No.12, pp.1539-1558, 2013.

E. Rosten and T. Drummond, "Machine learning for high-speed corner detection", European Conference on Computer Vision, Vol.1, pp.430-443, 2006.

E. Rublee, V. Rabaud, K. Konolige and G. Bradski, "ORB: An efficient alternative to SIFT or SURF", 2011 IEEE International Conference on Computer Vision (ICCV), IEEE, pp.2564-2571, 2011.

D.G. Lowe, "Object recognition from local scale-invariant features", Proceedings of the 7th International Conference on Computer Vision, Kerkyra, pp.1150-1157, 1999.

H. Bay, T. Tuytelaars and L. Van Gool, "Surf: Speeded up robust features", European Conference on Computer Vision, pp.404-417, 2006.

D. Nister and H. Stewenius, "Scalable recognition with a vocabulary tree", 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, IEEE, pp.2161-2168, 2006.

D. Galvez-Lopez and J.D. Tardós, "Real-time loop detection with bags of binary words", 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.51-58, 2011.

D. Nister, "An efficient solution to the five-point relative pose problem", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.26, pp.756-770, 2004.

CAI Yunfei, TANG Zhenmin and ZHAO Chunxia,"New layered SOA-based architecture for multi-robots cooperative online SLAM", Chinese Journal of Electronics, Vol.23, No.1, pp.23- 30, 2014.

CAI Yunfei, TANG Zhenmin and ZHAO Chunxia, "Multirobots cooperative online FastSLAM ", Chinese Journal of Electronics, Vol.20, No.2, pp.223-227, 2011.

Relative Articles

Supplements(0)

Cited By

Proportional views