Onboard visual-based navigation system for power line following with UAV
The details of an onboard visual-based navigation system that allows an unmanned aerial vehicle to perform power line following are presented in this article. A histogram of oriented segments method was developed to establish the main angle orientation of power lines. The histogram of oriented segme...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418763452 |
| _version_ | 1818841930127114240 |
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| author | Alexander Cerón Iván Mondragón Flavio Prieto |
| author_facet | Alexander Cerón Iván Mondragón Flavio Prieto |
| author_sort | Alexander Cerón |
| collection | DOAJ |
| description | The details of an onboard visual-based navigation system that allows an unmanned aerial vehicle to perform power line following are presented in this article. A histogram of oriented segments method was developed to establish the main angle orientation of power lines. The histogram of oriented segment is also used to discard segments that are not power lines in the images. The components of the unmanned aerial vehicle flight system which include the platform configuration and the hardware used are also presented. A set of tests were designed to validate the methods and the overall system. The system was tested with a sequence of images taken from different perspectives in real inspection tasks. Tests were performed with images taken using an unmanned aerial vehicle with a camera, pointing vertically downward, and also using different kinds of cameras. The techniques developed for unmanned aerial vehicle navigation were employed over power lines using a multirotor. The results showed that a vision system based on the developed techniques is able to give important information to an unmanned aerial vehicle in order to perform autonomous flight missions. |
| first_indexed | 2024-12-19T04:33:54Z |
| format | Article |
| id | doaj.art-b3012cdf169f40a4b4c4a7d4a8937b93 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-19T04:33:54Z |
| publishDate | 2018-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b3012cdf169f40a4b4c4a7d4a8937b932022-12-21T20:35:49ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-03-011510.1177/1729881418763452Onboard visual-based navigation system for power line following with UAVAlexander Cerón0Iván Mondragón1Flavio Prieto2 Faculty of Engineering, Multimedia Engineering Program, Universidad Militar Nueva Granada, Bogotá, Colombia Department of Industrial Engineering, Pontificia Universidad Javeriana, Bogotá, Colombia Department of Mechanical and Mechatronic Engineering, Universidad Nacional de Colombia, Bogotá, ColombiaThe details of an onboard visual-based navigation system that allows an unmanned aerial vehicle to perform power line following are presented in this article. A histogram of oriented segments method was developed to establish the main angle orientation of power lines. The histogram of oriented segment is also used to discard segments that are not power lines in the images. The components of the unmanned aerial vehicle flight system which include the platform configuration and the hardware used are also presented. A set of tests were designed to validate the methods and the overall system. The system was tested with a sequence of images taken from different perspectives in real inspection tasks. Tests were performed with images taken using an unmanned aerial vehicle with a camera, pointing vertically downward, and also using different kinds of cameras. The techniques developed for unmanned aerial vehicle navigation were employed over power lines using a multirotor. The results showed that a vision system based on the developed techniques is able to give important information to an unmanned aerial vehicle in order to perform autonomous flight missions.https://doi.org/10.1177/1729881418763452 |
| spellingShingle | Alexander Cerón Iván Mondragón Flavio Prieto Onboard visual-based navigation system for power line following with UAV International Journal of Advanced Robotic Systems |
| title | Onboard visual-based navigation system for power line following with UAV |
| title_full | Onboard visual-based navigation system for power line following with UAV |
| title_fullStr | Onboard visual-based navigation system for power line following with UAV |
| title_full_unstemmed | Onboard visual-based navigation system for power line following with UAV |
| title_short | Onboard visual-based navigation system for power line following with UAV |
| title_sort | onboard visual based navigation system for power line following with uav |
| url | https://doi.org/10.1177/1729881418763452 |
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