單目相機(jī)與激光雷達(dá)點(diǎn)云融合的電力作業(yè)裝備檢測(cè)定位研究

打開文本圖片集

中圖分類號(hào)：TP391.4 文獻(xiàn)標(biāo)志碼：B 文章編號(hào)：1671-5276（2025）03-0306-05

Monocular Camera and LiDAR Point Cloud Fusion for Power Operating Tool Detection

ZHAI Shixiong'，BAI Yuling1，ZHANG Liming1，HU Yifei1，ZHANG Yuwei1，REN Shunan 2 （1.State Grid Tianjin Electric Power Company，Tianjin 3OoO1O，China； 2.Beijing Guodian Futong Technology Development Co.，Ltd.，Beijing 1OoO7O，China）

Abstract：Forthedetectingand positioningerorsofoperating tolsbyrobots during theprocessofpoweroperation，thispaper proposes a sensor fusion method that integrates monocular camera image and LiDAR point cloud data.ArUco markers on the operating toolaredetected，and theirposesunderthecameracordinatesystemareobtained.Basedonthejointcalibration betwencameraand LiDAR，theposes of marker planes under the LiDAR coordinate system areobtained through coordinate transformation.Withthenormalvectorof theplaneasthebaseline，andthepointcloudsofthemarkerplatesareobtained bythe filteringand clustering algorithm.Andthecharacteristicsof thetwomarkerplatepointcoudsare fusedtocalculatetheposeof theoperating tolundertheLiDARcoordinatesystem.Theexperimentunderoutdorhigh-intensitylightconditionsverifiesthat theproposedmethodcanefectivelyeliminatetheerrorcausedbythecameraintrinsiccallbrationandextrinsiccalibration between camera and LiDAR，accuratelydetect and locate the pose of the power operating tol in robot operation space.

Keywords：3D object detection；multiple sensor fusion；point cloud filter；point cloud cluster；electric robots

0 引言

近年來，隨著人工智能與機(jī)器人技術(shù)的不斷發(fā)展，帶電作業(yè)機(jī)器人的發(fā)展取得了長(zhǎng)足的進(jìn)步，正在逐漸協(xié)助或取代電力工人完成各種配網(wǎng)帶電作業(yè)任務(wù)[1-2]。（剩余7117字）