摘要
Abstract
To realize refined inspection of transmission towers using UAVs,it is necessary to extract the coordinates of these towers from complex laser point cloud data.This paper first preprocesses the point cloud data by downsampling and elevation filtering.Subsequently,each tower is separated and extracted according to the spatial characteristics of the towers,wires,and ground point clouds.Finally,the independent tower is precisely extracted,leveraging their inherent vertical and symmetrical characteristics.Using the laser point cloud data from two 220 kV transmission lines in Zhangjiagang as a case study,the proposed algorithm can extract all transmission towers efficiently and completely.The modeling of a single tower is effective,with an average extraction time of about 2 minutes per tower,facilitating the subsequent trajectory planning for UAV-based detailed tower inspections.关键词
激光点云/输电杆塔/降采样/高程滤波/空间特征Key words
laser point cloud/transmission tower/downsampling/elevation filtering/spatial characteristics分类
信息技术与安全科学
