Methodfor Orientation Determination of Transmission Line Tower Based on Visual Navigation

Zuwu Wang; Jun Han; Xiaobin Sun; Bo Yang

doi:10.3788/LOP56.081006

Laser & Optoelectronics Progress, Volume. 56, Issue 8, 081006(2019)

Methodfor Orientation Determination of Transmission Line Tower Based on Visual Navigation

Zuwu Wang^1,2、*, Jun Han^1,2, Xiaobin Sun³, and Bo Yang³

Author Affiliations

¹ School of Communication and Information Engineering, Shanghai University, Shanghai 200444, China

² Shanghai Institute of Advanced Communications and Data Science, Shanghai 200444, China

³ State Grid Shandong Electric Power Company, Jinan, Shandong 250000, China

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Figures & Tables(14)

Fig. 1. Aerial images and diagrams of towers. (a) Front image; (b) front side image; (c) side image; (d) front view diagram; (e) front side view diagram; (f) side view diagram

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Fig. 2. Broken lines formed when wire passing through straight tower

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Fig. 3. Location relationship between guiding lines and wires in tensile tower

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Fig. 4. Structural characteristics of tower. (a) Cross slanted segments of tower head; (b)(c) slanted segments converged onto main frame of tower body; (d)(e) crossing characteristics in tower

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Fig. 5. Framework of tower detection from far to near

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Fig. 6. Calculation of gradient for each pixel point

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Fig. 7. Angular distribution of gradient

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Fig. 8. Gradient statistical histogram in each cell

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Fig. 9. HOG feature extraction and MLP perception model classification

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Fig. 10. Visual perception platform for UAV and local areas of tower under different orientations. (a) Visual perception platform for UAV; (b1) front of tower top; (b2) front side of tower top; (b3) side of tower top; (c1) front of tower body; (c2) front side of tower body; (c3) side of tower body; (d1) front of tower bottom; (d2) front side of tower bottom; (d3) side of tower bottom

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Table 1. Accuracy rate of identification of local area orientation of tower

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Table 1. Accuracy rate of identification of local area orientation of tower

Algorithm	Fig. 10 (b)			Fig. 10 (c)			Fig. 10 (d)
Algorithm	Front	Front side	Side	Front	Front side	Side	Front	Front side	Side
ZF-Net+Faster RCNN	0.682	0.691	0.702	0.618	0.699	0.664	0.677	0.686	0.629
VGG16+Faster RCNN	0.740	0.724	0.743	0.641	0.756	0.751	0.765	0.731	0.763
ResNet-101+Faster RCNN	0.772	0.780	0.788	0.693	0.801	0.793	0.787	0.759	0.789
HOG+MLP(Proposed)	0.826	0.818	0.859	0.879	0.891	0.902	0.878	0.869	0.821

Table 2. Time required for identification of local area orientation of towerms

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Table 2. Time required for identification of local area orientation of towerms

Algorithm	Fig. 10 (b)			Fig. 10 (c)			Fig. 10 (d)
Algorithm	Front	Front side	Side	Front	Front side	Side	Front	Front side	Side
ZF-Net +Faster RCNN	31	33	29	26	30	37	29	33	31
VGG16+Faster RCNN	140	159	154	145	148	143	141	153	157
ResNet-101+Faster RCNN	172	175	168	169	172	174	176	167	168
HOG+MLP(Proposed)	8	10	9	11	9	10	8	9	8

Table 3. Accuracy rate of local area orientation of tower after data augmentation

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Table 3. Accuracy rate of local area orientation of tower after data augmentation

Algorithm	Fig. 10 (b)			Fig. 10 (c)			Fig. 10 (d)
Algorithm	Front	Front side	Side	Front	Front side	Side	Front	Front side	Side
ZF-Net+Faster RCNN	0.653	0.671	0.708	0.621	0.652	0.634	0.650	0.619	0.639
VGG16+Faster RCNN	0.732	0.738	0.749	0.661	0.754	0.752	0.762	0.725	0.778
ResNet-101+Faster RCNN	0.781	0.783	0.798	0.701	0.801	0.808	0.787	0.762	0.789
HOG+MLP(Proposed)	0.833	0.828	0.855	0.876	0.895	0.893	0.874	0.866	0.834

Table 4. Time required for local area orientation of tower after data augmentationms

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Table 4. Time required for local area orientation of tower after data augmentationms

Algorithm	Fig. 10 (b)			Fig. 10 (c)			Fig. 10 (d)
Algorithm	Front	Front side	Side	Front	Front side	Side	Front	Front side	Side
ZF-Net+Faster RCNN	31	30	29	27	32	33	30	34	27
VGG16+Faster RCNN	139	148	140	139	148	141	143	142	149
ResNet-101+Faster RCNN	168	171	163	165	177	168	179	165	161
HOG+MLP(Proposed)	10	7	6	8	9	11	9	9	8

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Zuwu Wang, Jun Han, Xiaobin Sun, Bo Yang. Methodfor Orientation Determination of Transmission Line Tower Based on Visual Navigation[J]. Laser & Optoelectronics Progress, 2019, 56(8): 081006

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Paper Information

Category: Image Processing

Received: Oct. 22, 2018

Accepted: Nov. 13, 2018

Published Online: Jul. 26, 2019

The Author Email: Wang Zuwu (wangzuwu@shu.edu.cn)

DOI:10.3788/LOP56.081006

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology