WU Hua, WU Yanxiong, LIU Chang'an, YANG Guotian. Visual Data Driven Approach for Metric Localization in Substation[J]. Chinese Journal of Electronics, 2015, 24(4): 795-801. doi: 10.1049/cje.2015.10.022
Citation: WU Hua, WU Yanxiong, LIU Chang'an, YANG Guotian. Visual Data Driven Approach for Metric Localization in Substation[J]. Chinese Journal of Electronics, 2015, 24(4): 795-801. doi: 10.1049/cje.2015.10.022

Visual Data Driven Approach for Metric Localization in Substation

doi: 10.1049/cje.2015.10.022
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
  • 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.
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