The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Robust Power Transmission Lines Detection Method Based on Probabilistic Estimation of Vanishing Point

확률적인 소실점 추정 기법에 기반한 강인한 송전선 검출 방법

  • Yoo, Ju Han (Center for Bionics, Korea Institute of Science and Technology) ;
  • Kim, Dong Hwan (Center for Bionics, Korea Institute of Science and Technology) ;
  • Lee, Seok (Center for Sensor System, Korea Institute of Science and Technology) ;
  • Park, Sung-Kee (Center for Bionics, Korea Institute of Science and Technology)
  • Received : 2014.10.23
  • Accepted : 2014.12.22
  • Published : 2015.02.27
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Abstract

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

Keywords

Acknowledgement

Supported by : MOTIE

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