测控技术2024，Vol.43Issue(8)：1-6,6.DOI:10.19708/j.ckjs.2024.07.235
基于SGM-SSD的电力巡检机器人障碍物定位模型
Obstacle Positioning Model for Power Inspection Robots Based on SGM-SSD
摘要
Abstract
To improve the accuracy of power inspection robots in identifying obstacles on transmission lines,the positioning and identification model of power inspection is studied,and a model combining semi-global matc-hing(SGM)algorithm and single shot multibox detector(SSD)is proposed.The weighted least squares(WLS)filtering algorithm is used to process the holes and noise in the disparity map obtained by SGM algorithm,and a lightweight SSD method is proposed.Experimental test results show that the optimized model has a positioning measurement error of less than 5.13％,its size has decreased from 300 MB to 2.03 MB,and the loss function values of the lightweight model decreased to 0.23 and 0.33 after 89 and 250 iterations,respectively.There-fore,the proposed model can achieve the positioning and identification of obstacles on transmission lines,which can meet practical application needs.关键词
半全局匹配算法/单点多盒探测器/电力巡检机器人/障碍物定位/定位识别Key words
semi-global matching algorithm/single shot multibox detector/power inspection robot/obstacle po-sitioning/positioning identification分类
计算机与自动化引用本文复制引用
王琪,董泉,梁向阳,焦海龙,徐明,冯顺..基于SGM-SSD的电力巡检机器人障碍物定位模型[J].测控技术,2024,43(8):1-6,6.基金项目
国网河南省电力公司超高压公司群众创新项目(2022-25) （2022-25）
