Study on segmentation algorithm with missing point cloud in power line

Author(s):  
Guo Tao ◽  
Xu Lianggang ◽  
Yang Heng ◽  
Yang Liugui ◽  
Zhao Jian ◽  
...  
Author(s):  
Y. R. He ◽  
W. W. Ma ◽  
X. R. Wang ◽  
J. Q. Dai ◽  
J. L. Zheng

Abstract. The power patrol has been completed by manual field investigation, which is inefficient, costly and unsafe. In order to extract the height of the power line and its surrounding ground objects more quickly and conveniently, and better service for power line patrol. This paper uses remote sensing data of unmanned aerial vehicle to carry out aerial triangulation, stereo model establishment and binocular stereo vision height extraction base on MapMatrix software, then obtains the power line height analysis chart. Then LiDAR point cloud data is used to verify the accuracy of the power line height analysis chart. The results show that this method not only meets the standard of power line patrol, but also improves the efficiency and quality of power line patrol.


2015 ◽  
Vol 791 ◽  
pp. 189-194
Author(s):  
Frantisek Durovsky

Presented paper describes experimental bin picking using Kinect sensor, region-growing algorithm, latest ROS-Industrial drivers and dual arm manipulator Motoman SDA10f.As well known if manipulation with objects of regular shapes by suction cup is required, it is sufficient to estimate only 5DoF for successful pick. In such a case simpler region growing algorithm may be used instead of complicated 3D object recognition and pose estimation techniques, resulting in shorter processing time and decrease of computational load. Experimental setup for such a scenario, manipulated objects and results using region growing segmentation algorithm are explained in detail. Video and link to open-source code of described application are provided as well.


Author(s):  
Yawei Zhao ◽  
Yanju Liu ◽  
Yang Yu ◽  
Jiawei Zhou

Aiming at the problems of poor segmentation effect, low efficiency and poor robustness of the Ransac ground segmentation algorithm, this paper proposes a radar segmentation algorithm based on Ray-Ransac. This algorithm combines the structural characteristics of three-dimensional lidar and uses ray segmentation to generate the original seed point set. The random sampling of Ransac algorithm is limited to the original seed point set, which reduces the probability that Ransac algorithm extracts outliers and reduces the calculation. The Ransac algorithm is used to modify the ground model parameters so that the algorithm can adapt to the undulating roads. The standard deviation of the distance from the point to the plane model is used as the distance threshold, and the allowable error range of the actual point cloud data is considered to effectively eliminate the abnormal points and error points. The algorithm was tested on the simulation platform and the test vehicle. The experimental results show that the lidar point cloud ground segmentation algorithm proposed in this paper takes an average of 5.784 milliseconds per frame, which has fast speed and good precision. It can adapt to uneven road surface and has high robustness.


Author(s):  
G. Sithole ◽  
L. Majola

The notion of a ‘Best’ segmentation does not exist. A segmentation algorithm is chosen based on the features it yields, the properties of the segments (point sets) it generates, and the complexity of its algorithm. The segmentation is then assessed based on a variety of metrics such as homogeneity, heterogeneity, fragmentation, etc. Even after an algorithm is chosen its performance is still uncertain because the landscape/scenarios represented in a point cloud have a strong influence on the eventual segmentation. Thus selecting an appropriate segmentation algorithm is a process of trial and error. <br><br> Automating the selection of segmentation algorithms and their parameters first requires methods to evaluate segmentations. Three common approaches for evaluating segmentation algorithms are ‘goodness methods’, ‘discrepancy methods’ and ‘benchmarks’. Benchmarks are considered the most comprehensive method of evaluation. This paper shortcomings in current benchmark methods are identified and a framework is proposed that permits both a visual and numerical evaluation of segmentations for different algorithms, algorithm parameters and evaluation metrics. The concept of the framework is demonstrated on a real point cloud. Current results are promising and suggest that it can be used to predict the performance of segmentation algorithms.


Author(s):  
X. H. Chen ◽  
J. Q. Dai ◽  
Y. R. He ◽  
W. W. Ma

Abstract. The traditional electrical power line inspection method has the disadvantages of high labor intensity, low efficiency and long cycle of re-inspection. Airborne LiDAR can quickly obtain the high-precision three-dimensional spatial information of transmission line, and the data which collected by it can make it possible to accurately detect the dangerous points.It is proposed to use the grid method to divide the data into multiple regions for the elevation histogram statistical method to obtain the power line point cloud at the complex mountainous terrain. In the non-ground point data, part of the vegetation point cloud is separated according to the point cloud dimension feature, and then the power line point and the pole point are distinguished according to the density characteristics of the point cloud so as to realize the point cloud classification of the transmission line corridor. On this basis, the power line safety distance detection is carried out on the power line points and vegetation points extracted by the classification, and the early warning analysis of the dangerous points of the transmission line tree barrier is completed. The experimental results show that the method can classify the acquired power line corridor point cloud and extract the complete power line, which effectively eliminates the hidden dangers and has certain practical significance.


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