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Remote Sens. 2017, 9(7), 753; https://doi.org/10.3390/rs9070753

A Novel Method to Reconstruct Overhead High-Voltage Power Lines Using Cable Inspection Robot LiDAR Data

1
Department of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China
2
Guangdong Keystar Intelligent Robot Co., Ltd., Foshan 528000, China
3
Key Laboratory of Hydraulic Machinery Transients, Ministry of Education, Wuhan University, Wuhan 430072, China
*
Author to whom correspondence should be addressed.
Academic Editors: Guoqing Zhou and Prasad S. Thenkabail
Received: 24 June 2017 / Revised: 16 July 2017 / Accepted: 17 July 2017 / Published: 22 July 2017

Abstract

Overhead high-voltage power lines are key components of power transmission and their monitoring has a very significant influence on security and reliability of power system. Advanced laser scanning techniques have been widely used to capture three-dimensional (3D) point clouds of power system scenes. Nevertheless, power line corridors are found in increasingly complex environments (e.g., mountains and forests), and the multi-loop structure on the same power line tower raises great challenges to process light detection and ranging (LiDAR) data. This paper addresses these challenges by constructing a new collection mode of LiDAR data for power lines using cable inspection robot (CIR). A novel method is proposed to extract and reconstruct power line using CIR LiDAR data, which has two advantages: (1) rapidly extracts power line point by position and orientation system (POS) extraction model; and (2) better solves pseudo-line during reconstruction of power line by structured partition. The proposed method mainly includes four steps: CIR LiDAR data generation, POS-based crude extraction, voxel-based accurate extraction and power line reconstruction. The feasibility and validity of the proposed method are verified by test site experiment and actual line experiment, demonstrating a fast and reliable solution to accurately reconstruct power line. View Full-Text
Keywords: cable inspection robot; LiDAR; position and orientation system; power line; reconstruction cable inspection robot; LiDAR; position and orientation system; power line; reconstruction
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Qin, X.; Wu, G.; Ye, X.; Huang, L.; Lei, J. A Novel Method to Reconstruct Overhead High-Voltage Power Lines Using Cable Inspection Robot LiDAR Data. Remote Sens. 2017, 9, 753.

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