Transmission Line Inspection Monocular Ranging Technology Based on Fused Laplace Residual Image Processing

doi:10.3969/j.issn.1008-0198.2025.03.017

Abstract

Abstract: During UAV inspections on ultra-and extra-high-voltage transmission lines, the UAV can approach the lines to capture detailed information. However, too close distance between UAV and transmission lines increases the risk of electromagnetic interference or even collisions. Therefore, it is crucial to accurately obtain the distance between the UAV and the transmission lines. In order to solve this problem, a depth estimation network LapNet(Laplace Net) fused with Laplace residuals is proposed, and U-Net is used as the network infrastructure to construct a multi-scale feature pyramid. A LUB (Laplace U-Block) module is proposed to replace the ordinary convolutional layer of U-Net, and the Laplace pyramid residual structure is introduced into the LUB module to increase the network depth while retaining the high-frequency information in the depth features. This leads to the reconstruction of high-quality depth images for accurate measurement of monocular distances. According to the actual test, the average error of distance detection using UAV monocular lens is 4.786%, and the maximum error is 8.36%, which can realize the accurate measurement of the distance between UAV lens and line.

Key words: monocular vision, depth estimation, pyramid of Laplace, Laplace Net, UAV inspection

CLC Number:

TM755

Li Bocheng, YANG Haoyan, LiU Gang, GUO Hao, LiU Lanlan, Li Sai, Xi Yanhui. Transmission Line Inspection Monocular Ranging Technology Based on Fused Laplace Residual Image Processing[J]. Hunan Electric Power, 2025, 45(3): 122-128.

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