Fig. 1. Schematic diagram of carbon slide wear

Fig. 2. Wear calculation of carbon slide

Fig. 3. Schematic diagram of online detection system for pantograph wear

Fig. 4. Raw profile of pantograph. (a) Valid profile; (b) invalid profile

Fig. 5. Pantograph feature region

Fig. 6. Schematic diagram of point cloud window

Fig. 7. Variance value of window traversal

Fig. 8. Point-line distance

Fig. 9. Four verified results of feature point search

Fig. 10. Filtering of profile data

Fig. 11. Rough registration of profile data. (a) Before registration; (b) after registration

Fig. 12. Interval partitioning of profile data. (a) Standard profile; (b) source profile

Fig. 13. Registered result of profile data

Fig. 14. Testing experiment of pantograph wear detection