Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Towards Autonomous Detection and Tracking of Electric Towers for Aerial Power Line Inspection
Year:2014
Research Areas
  • Artificial intelligence,
  • Engineering,
  • Computer vision
Information
Abstract
This paper presents an approach towards au- tonomous aerial power line inspection. In particular, the pre- sented work focuses on real-time autonomous detection, local- ization and tracking of electric towers. A strategy which com- bines classic computer vision and machine learning techniques, is proposed. A generalized detection and localization approach is presented, where a two-class multilayer perceptron (MLP) neural network was trained for Tower-Background classifica- tion. This MLP is applied over sliding windows for each camera frame until a tower is detected. The detection of a tower triggers the tracker. A hierarchical tracking methodology, especially designed for tracking towers in real-time, is presented. This methodology is based on the Hierarchical Multi-Parametric and Multi-Resolution Inverse Compositional Algorithm [1], and is proposed to be used for tracking and maintaining the tower in the field of view (FOV). The proposed strategy, which is the combination of the tower detector and the tracker, is evaluated on videos from several real manned helicopter inspections. Overall, the results show that the proposed strategy performs very well at detecting and tracking various types of electric towers in diverse environmental settings.
International
Si
Congress
International Conference on Unmanned Aircraft Systems
960
Place
Orlando, FL
Reviewers
Si
ISBN/ISSN
10.1109/ICUAS.2014.6842267
Start Date
27/05/2014
End Date
30/05/2014
From page
To page
Participants
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: Carlos Sampedro Perez (UPM)
  • Autor: Aneesh Chauhan . (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)