A dynamic target template matching method was proposed to identify railway catenary suspension movements of wind-induced vibration in wind area. Catenary positioning point was taken as the target template, which was compared with equal-sized image sequentially using the proposed matching difference. And, three-dimensional contour map of matching difference value at each sub-area was obtained, where the target pixel coordinates were determined by the minimum matching difference value. Considering the complex imaging condition, the target template was updated by the detected target image to sense the gradual change of illumination conditions like brightness and contrast. Furthermore, to eliminate detecting errors due to wind-induced camera vibration, both static and moving target templates were identified for acquiring the absolute motion of the moving target. Finally, validation test was performed with animation in PowerPoint. The calculated target displacement agrees well with theoretical motion with maximum relative error of 1.8%. And experiment application was conducted at site by analyzing the relationship between detecting displacement and wind speed. Results indicate that the proposed dynamic target template matching method can meet required engineering precision and provide an effective way for wind-vibration safety research of railway catenary system in wind area.
A TSR Visual Servoing System Based on a Novel Dynamic Template Matching Method
