Main Components Detection And 3D Reconstruction Of The Overhead Transmission Line

The safe and stable operation of the transmission lines is directly related to the reliability of power system and sustained development of economy in our country.This paper has a detailed introduction and research on the relevant technology of the transmission line's parts detection and 3D reconstruction.The specific research contents in this paper include: the detection of overhead transmission line's main components,calibration of binocular camera,stereo matching of binocular vision images,and 3D reconstruction of transmission line's components.This paper introduces the work environment of overhead transmission lines and the types,characteristics of major parts on transmission lines at first,then adopts the detection algorithm which is based on simple geometric primitives to detect the components of transmission lines,and through experiments verify the feasibility of the algorithm.Binocular camera calibration is the foundation of 3D reconstruction.This paper focuses on analysis of Z Zhang plane template two-stage calibration method and combines this method with the improved corner detection algorithm which is proposed in this paper to realize the laboratorial binocular camera calibration by programming and work out the inner and outer parameters.Analyzing causes of the calibration error and some related points for attention in the calibration.In stereo matching stage of image pair,this paper proposes an improved image pair matching algorithm which is based on the Census transformation matching algorithm and optimizes it to improve its matching accuracy and robustness.The effectiveness of the improved matching algorithm is verified by experiments,and it is used in stereo matching of transmission lines components.Finally,this paper study on the 3D reconstruction based on the above researches.Then using the method which is based on OpenCV and OpenGL to realize the 3D reconstruction of transmission line's components by programming,and analyzing the experimental results.The research contents of this paper have a certain role in overhead power transmission line inspection technology and binocular stereo vision system's development,also lay a good foundation for the study of subsequent defect detection and the autonomous navigation of patrol robot.