Robust power line detection with particle-filter-based tracking in radar video

In this paper, we propose a tracking algorithm to detect power lines from millimeter-wave radar video. We propose a general framework of cascaded particle filters which can naturally capture the temporal correlation of the power line objects, and the power-line-specific feature is embedded into the conditional likelihood measurement process of the particle filter. Because of the fusion of multiple information sources, power line detection is more effective than the previous approach. Both the accuracy and the recall of power line detection are improved from around 68% to over 92%.