Visual Data Driven Approach for Metric Localization in Substation

To localize inspection robot in an in-service substation costs much. How to discriminate its location among highly similar scenes is the main problem of localizing robot in the substation using vision. A novel approach for visual localization using image retrieval and multi-view geometry is proposed...

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Bibliographic Details
Published in:Chinese Journal of Electronics 2015-10, Vol.24 (4), p.795-801
Main Authors: Wu, Hua, Wu, Yanxiong, Liu, Chang'an, Yang, Guotian
Format: Article
Language:English
Subjects:
automatic optical inspection
autonomous inspection
computational geometry
coordinate estimation
Coordinates estimation
feature extraction
image description
Image retrieval
In-service
inspection
inspection robot localization
in‐service substation
In‐service substation inspection robot
metric localization
multiview geometry
Multi‐view geometry
performance evaluation
retri
robot vision
robot
Image
similar scenes
SLAM (robots)
substation
substation automation
training dataset selection
visual data driven approach
visual localization
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Description
Summary:To localize inspection robot in an in-service substation costs much. How to discriminate its location among highly similar scenes is the main problem of localizing robot in the substation using vision. A novel approach for visual localization using image retrieval and multi-view geometry is proposed. It is applicable for autonomous inspection of in-service substation without additional modifications of the environment. The experimental results demonstrate the efficiency and reliability of our approach. They have been further discussed by means of parameters for image description, number of neighbouring images for coordinates estimation, training dataset selection and performance evaluation. They verified that our approach is a cost-effective solution to robot localization in in-service substation.
ISSN:1022-4653
2075-5597
DOI:10.1049/cje.2015.10.022