[1] [1] ZHAO Y M, LI Y H, SHANG Y N, et al. Application and development direction of lidar［J］. Journal of Telemetry, Tracking and Command, 2014, 35(5): 4-22(in Chinese).

[2] [2] WU J J, LI L, FANG P K, et al. Effective organization and visualization of helicopter-based laser scanning data in power line inspection ［J］. Laser Technology, 2019, 43(3): 318-323 (in Chinese).

[3] [3] WANG P, ZHOU Z, WANG S, et al. Investigating the working model of power line patrol based on airborne LiDAR［C］// 2016 IEEE PES 13th International Conference on Transmission & Distribution Construction, Operation & Live-Line Maintenance (ESMO). New York, USA: IEEE, 2016: 1-4.

[4] [4] WU J J, CHEN L, LI L, et al. Power line extraction and reconstruction from airborne LiDAR point cloud［J］. Laser Technology, 2019, 43(4): 500-505 (in Chinese).

[5] [5] GUO B, LI Q, HUANG X, et al. An improved method for power-line reconstruction from point cloud data［J］. Remote Sensing, 2016, 8(1): 36-52.

[6] [6] SHI L, GUO T, PENG Ch, et al. Segmentation of laser point cloud and safety detection of power lines［J］. Laser Technology, 2019, 43(3): 341-346 (in Chinese).

[7] [7] LIN X G, ZHANG J X. 3-D power line reconstruction from airborne LiDAR point cloud of overhead electric power transmission corridors［J］. Acta Geodaetica et Cartographica Sinica, 2016, 45(3): 347-353.

[8] [8] WU X, YAN Z, WANG P, et al. A processing method for LiDAR data of power line patrol［C］//2016 4th International Conference on Applied Robotics for the Power Industry (CARPI). New York,USA: IEEE, 2016: 1-4.

[9] [9] LIN Y, WU D, LI D. High precisely surveying of power line patrol based on airborne LiDAR［J］. Urban Geotechnical Investigation & Surveying, 2011, 5(5): 71-74.

[10] [10] YOU A, WANG X, HAN X, et al. Applications of LiDAR in patrolling electric-power lines［C］//2013 The International Conference on Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE). New York,USA: IEEE, 2013: 110-114.

[11] [11] APPLET P J, GOODFELLOW J W. Research on how trees cause interruptions-applications to vegetation management［C］//Rural Electric Power Conference, 2004. New York,USA: IEEE, 2004: 1307064.

[12] [12] POULIOT N, MONTAMBAULT S. Geometric design of the LineScout, a teleoperated robot for power line inspection and maintenance［C］//2008 IEEE International Conference on Robotics and Automation. New York, USA: IEEE, 2008: 3970-3977.

[13] [13] CHEN L. Information extraction of transmission line tower based on high density airborne laser point cloud［D］. Fuxin: Liaoning Technical University, 2016: 14-29(in Chinese).

[14] [14] SONG Sh. 3-D feature extraction of power transmission corridor based on airborne LiDAR point clouds［D］. Wuhan: Wuhan University, 2017: 6-23(in Chinese).

[15] [15] GUO T, SHEN P, SHI L. Study on power extraction and fast positioning from airborne LiDAR data［J］. Remote Sensing Technology and Application, 2018, 33(3): 530-535(in Chinese).

[16] [16] HAN W J. Three-dimensional power tower modeling with airborne LiDAR data［J］. Journal of Yangtze River Scientific Research Institute, 2012, 29(10): 122-126.

[17] [17] SHEN X J, QIN Ch, DU Y, et al. An automatic power line extraction method from airborne light detection and ranging point cloud in complex terrain［J］. Journal of Tongji University(Natural Science Edition), 2018, 46(7): 982-987 (in Chinese).

[18] [18] QI C R, SU H, MO K, et al. Pointnet: Deep learning on point sets for 3-D classification and segmentation［C］//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. New York, USA: IEEE, 2017: 652-660.

[19] [19] QI C R, YI L, SU H, et al. Pointnet++: Deep hierarchical feature learning on point sets in a metric space［C］// Annual Conference on Neural Information Processing Systems 2017. Los Angeles, USA: Neural Information Processing Systems, 2017: 5099-5108.

[20] [20] ZHOU Y, TUZEL O. Voxelnet: End-to-end learning for point cloud based 3D object detection［C］//Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. New York, USA: IEEE,2018: 4490-4499.