A High-Precision Power Line Recognition and Location Method Based on Structured-Light Binocular Vision.

To complete the wiring operation of the main trans-mission line stripped of its insulating skin in a live power distribution system, a structured-light binocu-lar vision method is utilized to identify and locate the line. First, aiming at the interference of the back-ground information, a depth threshold segmentation method is used to filter the background area. Sec-ond, a mean filtering method is proposed to filter out the mismatch noise of a binocular vision camera in an outdoor environment. The Canny algorithm is then utilized to extract the contour, the central axis of the main transmission line is fitted, and the difference in the neighborhood pixel value is used to recognize the stripping area. Finally, the spatial equation and at-titude of the central axis of the fitting transmission line are obtained along with the central coordinates of the stripping area, guiding the robot to carry out the wiring.