Insulators Recognition for 220kv/330kv High-voltage Live-line Cleaning Robot

Author

Zhang, Jian ; Yang, Ruqing

Author_Institution

Res. Inst. of Robotics, Shanghai Jiaotong Univ.

Volume

4

fYear

0

fDate

0-0 0

Firstpage

630

Lastpage

633

Abstract

This paper approaches the problem of recognizing and localizing insulators with curved smooth and weak textured surfaces in a cluttered scene for the 220kv/330kv high-voltage live-line cleaning robot (HLCR). In this work we introduce SUSAN edge-based scale invariant feature (SESIF) to describe insulators, which is robust to noise, cluttered scene, changes on viewpoint and illumination. A coarse-to-fine method is applied to recognize and localize insulators using SESIF. Firstly, a coarse location is estimated with general Hough transform and RANSAC method. Secondly, an accurate location of insulator is found with an edge-based tracker. Results are demonstrated for a 220kv insulator in a cluttered scene

Keywords

cleaning; edge detection; high-voltage engineering; image texture; insulators; object recognition; power engineering computing; robot vision; service robots; Hough transform; RANSAC method; SUSAN edge-based scale invariant feature; cluttered scene; coarse-to-fine method; edge-based tracker; high-voltage live-line cleaning robot; insulator localization; insulators recognition; textured surfaces; Cleaning; Detectors; Image edge detection; Insulation life; Layout; Lighting; Noise robustness; Power transformer insulation; Robot vision systems; Surface texture;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 2006. ICPR 2006. 18th International Conference on

Conference_Location

Hong Kong

ISSN

1051-4651

Print_ISBN

0-7695-2521-0

Type

conf

DOI

10.1109/ICPR.2006.715

Filename

1699920