LIU Chang'an, DONG Ruifang, JIN Lu, WU Hua. Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on Point Cloud Model[J]. Chinese Journal of Electronics, 2018, 27(5): 976-984. doi: 10.1049/cje.2018.05.005
Citation: LIU Chang'an, DONG Ruifang, JIN Lu, WU Hua. Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on Point Cloud Model[J]. Chinese Journal of Electronics, 2018, 27(5): 976-984. doi: 10.1049/cje.2018.05.005

Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on Point Cloud Model

doi: 10.1049/cje.2018.05.005
Funds:  This work is supported by the Programme for New Century Excellent Talents in University (No.NCET-11-0634) and the Fundamental Research Funds for the Central Universities (No.2015XS63).
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  • Corresponding author: WU Hua (corresponding author) is currently an associate professor in North China Electric Power University. He received his Ph.D. degree in Pattern Recognition and Intelligent System from Beihang University in 2010. His research interest lies in robot navigation, computer vision and machine learning for power industry. (
  • Received Date: 2016-12-16
  • Rev Recd Date: 2017-09-06
  • Publish Date: 2018-09-10
  • This paper presents a method to derive optimal viewpoints for flying robot based transmission tower inspection, which applies point cloud model. A safe envelope is established according to safe transmission tower inspection rules. Essential inspection factors are proposed to evaluate the quality of candidate viewpoints, which includes visibility, dimensionality feature of point cloud as well as the distance between viewpoint and transmission power. A score function is constructed to quantify candidate viewpoints, while multiple attribute decision theory is applied to calculate the weight of each factor. Particle swarm optimization (PSO) is used to find the optimal viewpoints set. Both simulation experiment and practical observations are carried out. The results prove that optimal viewpoints have a great contribution for accurate transmission tower inspection. Final results are compared to patch-based method and proved to be feasible.
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