计算机与现代化Issue(9)：20-26,7.DOI:10.3969/j.issn.1006-2475.2025.09.003
配网旁路作业机器人目标位姿估计方法
Target Pose Estimation Methods for Distribution Network Bypass Operation Robots
摘要
Abstract
To replace humans in bypass operation tasks,robots need the ability to autonomously estimate the pose of target ob-jects in complex work environments.Addressing the problem of real-time pose estimation of targets by bypass operation robots un-der complex backgrounds and varying lighting conditions,this proposes a 6D pose estimation algorithm(RTFT6D)based on im-proved YOLO-6D integrated with Transformer model.The YOLOv8 backbone network is modified to enhance inference speed,and a feature enhancement network incorporating the Transformer model is designed to improve the robustness of pose estimation.The experimental results show that the proposed algorithm surpasses most RGB image-based pose estimation algorithms in accu-racy on the LINEMOD dataset,and it achieves excellent pose estimation performance for bypass operation targets under different lighting conditions.关键词
配网旁路作业机器人/位姿估计/YOLO-6D/YOLOv8/TransformerKey words
distribution network bypass operation robot/pose estimation/YOLO-6D/YOLOv8/Transformer分类
信息技术与安全科学引用本文复制引用
姚杰,殷洪海,汪大海,李润梓,张茜雯,郭毓..配网旁路作业机器人目标位姿估计方法[J].计算机与现代化,2025,(9):20-26,7.基金项目
国家电网有限公司科技项目(J2023016) （J2023016）
国家自然科学基金面上项目(61973167) （61973167）
