计算机应用与软件2026，Vol.43Issue(3)：10-16,7.DOI:10.3969/j.issn.1000-386x.2026.03.002
基于点云骨架的带电作业机器人三维重建系统设计
DESIGN OF 3D RECONSTRUCTION SYSTEM FOR LIVE-LINE WORKING TELEOPERATION ROBOT BASED ON POINT CLOUD SKELETONIZATION
摘要
Abstract
To improve the precision and stability of live-line working robot,a 3D reconstruction system is designed for live-line working teleoperation robot.A skeletonization method based on ROSA method optimization was proposed to shrink line model into one-dimension skeleton shape,and a projection mapping method was used to estimate the sectional radius of high-voltage line.Based on weighted normal,a least squares parabola parameter fitting for high-voltage line space parameter equation was advanced to correct and optimize the extracted 1D skeleton.Experiment results show that the skeletonization method based on ROSA method optimization has higher accuracy and real-time and more robustness than tradition methods,and curve fitting method can apply to curves with diverse curvature and the reconstruction system meets the requirements of robot.关键词
高压线三维重建/带电作业机器人/点云骨架/三维点云/遥操作/目标识别/空间抛物线拟合Key words
High-voltage line model reconstruction/Live-line working robot/Point cloud skeletonization/3D point cloud/Teleoperation/Target recognition/Parabolic curve fitting分类
信息技术与安全科学引用本文复制引用
闻知健,李会军,宋爱国..基于点云骨架的带电作业机器人三维重建系统设计[J].计算机应用与软件,2026,43(3):10-16,7.基金项目
国家自然科学基金项目(62173088) （62173088）
国家重点研发计划项目(2022YFC2009700,2022YFC2009704). （2022YFC2009700,2022YFC2009704）
