Trinocular vision and spatial prior based method for ground clearance measurement of transmission lines

Yaqin Zhou; Qingwu Li; Qingwu Li; Yi Wu; Yunpeng Ma; Chunkuan Wang

doi:10.1364/AO.417533

Applied Optics
Vol. 60,
Issue 8,
pp. 2422-2433
(2021)
•https://doi.org/10.1364/AO.417533

Trinocular vision and spatial prior based method for ground clearance measurement of transmission lines

Yaqin Zhou, Qingwu Li, Yi Wu, Yunpeng Ma, and Chunkuan Wang

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Yaqin Zhou, Qingwu Li, Yi Wu, Yunpeng Ma, and Chunkuan Wang, "Trinocular vision and spatial prior based method for ground clearance measurement of transmission lines," Appl. Opt. 60, 2422-2433 (2021)

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Abstract

It is an essential task to inspect ground clearance of transmission lines in time. However, the weak texture of transmission lines and high complexity of the background make it difficult to balance efficiency and accuracy. To solve the problem, a trinocular vision and spatial prior based method is proposed, which is specifically designed for ground clearance measurement of transmission lines with unmanned aerial vehicles (UAVs). In this novel method, a perpendicular double-baseline trinocular vision module is applied to improve the accuracy of transmission line reconstruction. Then the spatial prior information of geometric models under different shooting attitudes is analyzed in detail, and it is adopted to determine the ground crossing points and compute ground clearance efficiently. Also, an interactive software is developed and tested in the simulation environment of UAV inspection. Experimental results verify the feasibility of the measurement method. Finally, we discuss in detail how to apply the method effectively in practice and give a set of recommended camera parameters.

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Data Availability

Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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	Point 1	Point 2	Point 3	Point 4
Point coordinates in the up image	(481, 532)	(1280, 583)	(1140, 1099)	(245, 377)
Point coordinates in the left image	(481, 464)	(1280, 504)	(1140, 1021)	(245, 309)
Point coordinates in the right image	(411, 464)	(1200, 504)	(1060, 1021)	(175, 309)
Disparity values of points in left-up/left-right images (pixel)	68/70	79/80	78/80	68/70

Focal length $f$		1299.903 pixel
Principal point of the left imaging plane $P_{0} (u_{0}, v_{0})$		(519.50, 608.98) pixel
Baseline length $b$	Left-up	50.738 mm
	Left-right	55.258 mm
Image resolution		1600×1200 pixel

#Scene1
( $θ_{z} = {2.10}^{\circ}$ , $θ_{x} = {- 42.25}^{\circ}$ )		Point 1	Point 2	Point 3	Point 4	Point 5	Point 6
Target point coordinates (pixel)		(450, 128)	(577, 168)	(1228, 178)	(707, 221)	(868, 224)	(642, 259)
Ground crossing points (pixel)		(503, 475)	(622, 661)	(1107, 644)	(717, 635)	(846, 565)	(673, 755)
Ground clearance (mm)	LRF	296.00	475.00	458.00	355.00	296.00	475.00
Ground clearance (mm)	Ours	294.81	475.29	435.17	352.30	300.33	464.23
Measurement error		0.402%	0.061%	4.985%	0.761%	1.463%	2.267%
Mean measurement error		1.657%

#Scene2
( $θ_{z} = {2.00}^{\circ}$ , $θ_{x} = {- 40.00}^{\circ}$ )		Point 1	Point 2	Point 3	Point 4	Point 5	Point 6
Target point coordinates (pixel)		(1100, 177)	(1013, 213)	(395, 252)	(652, 256)	(948, 290)	(1143, 290)
Ground crossing points (pixel)		(1027, 587)	(946, 704)	(437, 478)	(672, 644)	(894, 806)	(1036, 798)
Ground clearance (mm)	LRF	418.00	486.00	137.00	359.00	492.00	478.00
Ground clearance (mm)	Ours	390.53	456.63	154.41	357.03	459.99	453.00
Measurement error		6.571%	6.043%	12.708%	0.049%	6.506%	5.230%
Mean measurement error		6.185%

#Scene1
( $θ_{x} = - {53.05}^{\circ}$ , $θ_{z} = {30.70}^{\circ}$ )		Point 1	Point 2	Point 3	Point 4	Point 5	Point 6
Target points coordinates (pixel)		(988, 75)	(1013, 161)	(1283, 249)	(1368, 369)	(1431, 387)	(1201, 409)
Ground crossing points (pixel)		(689, 476)	(624, 651)	(736, 711)	(837, 741)	(876, 738)	(684, 864)
Ground clearance (mm)	LRF	296.00	475.00	475.00	355.00	355.00	475.00
Ground clearance (mm)	Ours	286.25	413.35	445.35	377.38	377.73	474.69
Measurement error		3.294%	12.979%	6.242%	6.304%	6.403%	0.065%
Mean measurement error		5.881%

#Scene2
( $θ_{x} = - {42.30}^{\circ}$ , $θ_{z} = {32.90}^{\circ}$ )		Point 1	Point 2	Point 3	Point 4	Point 5	Point 6
Target point coordinates (pixel)		(1293, 332)	(1150, 300)	(604, 83)	(848, 202)	(1257, 422)	(1366, 471)
Ground crossing points (pixel)		(935, 650)	(776, 691)	(504, 283)	(581, 601)	(814, 820)	(831, 887)
Ground clearance (mm)	LRF	418.00	486.00	137.00	359.00	492.00	478.00
Ground clearance (mm)	Ours	376.10	423.72	117.30	346.98	425.08	495.60
Measurement error		10.024%	12.815%	14.380%	3.348%	13.602%	3.682%
Mean measurement error		9.642%

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Tables (7)

Equations (22)

Applied Optics