基于SGM-SSD的电力巡检机器人障碍物定位模型OACSTPCD

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.