@inproceedings{74badd90783648058a1633386ae24195,
title = "Powerline Detection and Accurate Localization Method Based on the Depth Image",
abstract = "In recent years, various types of aerial work robots have been developed for the inspection and maintenance of the powerline. In this regard, the aerial manipulator system (AMS) has shown broad application potential because it combines the advantages of the UAVs and the manipulator. However, it is full of challenges for the AMS to perform close-range aerial interactive operations on the powerline, which requires stable and accurate detection and positioning information of the powerline. Therefore, a powerline detection and accurate localization method based on the depth image is proposed. Firstly, the depth image is converted into a grayscale image through background filtering and a designed special mapping operator. Then, detect the edges of the powerline in the grayscale image and identify different powerlines. Finally, the Kalman filter is used to track the position of the powerline and obtain the accurate localization information. The experimental results show that the proposed method can stably detect and accurately locate the powerline, which can provide stable and reliable relative position information for close-range aerial interactive operations.",
keywords = "Accurate localization, Depth image, Kalman filter, Powerline detection",
author = "Hai Li and Zhan Li and Tong Wu and Fulin Song and Jiayu Liu and Zonglin Li",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6501-4\_27",
language = "英语",
isbn = "9789819965007",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "317--328",
editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhouping Yin and Lianqing Liu and Zhiyong Wang",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "德国",
}