Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer
Aiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and d...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2023/6699265 |
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| _version_ | 1832559598910832640 |
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| author | Yingbin Feng Yahui Kou Yanju Liu |
| author_facet | Yingbin Feng Yahui Kou Yanju Liu |
| author_sort | Yingbin Feng |
| collection | DOAJ |
| description | Aiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and discolored transformer oil, an image enhancement algorithm based on multiscale fusion is developed to provide a reliable data source for robot localization. Then, the FAST key points are extracted and the BRIEF descriptors are calculated from the enhanced images, and the pose transformation of the robot between image frames is calculated by using polar constraint and EPnP method. A pose optimization model of the robot is designed to improve the positioning accuracy. Finally, to verify the effectiveness of the proposed methods, function tests are carried out by using the real continuous image sequence acquired by the robot in Mitsubishi transformer. The experimental results show that the trajectory of the robot in the transformer can be accurately drawn, the position data of the robot can be efficiently obtained, and autonomous positioning of the robot in the transformer can be well achieved. |
| format | Article |
| id | doaj-art-fb28a4dc025d4073afbbd942d5f79c3a |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-fb28a4dc025d4073afbbd942d5f79c3a2025-02-03T01:29:44ZengWileyJournal of Robotics1687-96192023-01-01202310.1155/2023/6699265Visual Localization of an Internal Inspection Robot for the Oil-Immersed TransformerYingbin Feng0Yahui Kou1Yanju Liu2School of Automation and ElectricalSchool of Automation and ElectricalSchool of Automation and ElectricalAiming at the problem that the robot is difficult to locate in the oil-immersed transformer, a visual positioning of the robot is proposed for internal inspection. First, in order to solve the problem of blur, distortion, and low contrast of the image obtained by the camera in the deteriorated and discolored transformer oil, an image enhancement algorithm based on multiscale fusion is developed to provide a reliable data source for robot localization. Then, the FAST key points are extracted and the BRIEF descriptors are calculated from the enhanced images, and the pose transformation of the robot between image frames is calculated by using polar constraint and EPnP method. A pose optimization model of the robot is designed to improve the positioning accuracy. Finally, to verify the effectiveness of the proposed methods, function tests are carried out by using the real continuous image sequence acquired by the robot in Mitsubishi transformer. The experimental results show that the trajectory of the robot in the transformer can be accurately drawn, the position data of the robot can be efficiently obtained, and autonomous positioning of the robot in the transformer can be well achieved.http://dx.doi.org/10.1155/2023/6699265 |
| spellingShingle | Yingbin Feng Yahui Kou Yanju Liu Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer Journal of Robotics |
| title | Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer |
| title_full | Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer |
| title_fullStr | Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer |
| title_full_unstemmed | Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer |
| title_short | Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer |
| title_sort | visual localization of an internal inspection robot for the oil immersed transformer |
| url | http://dx.doi.org/10.1155/2023/6699265 |
| work_keys_str_mv | AT yingbinfeng visuallocalizationofaninternalinspectionrobotfortheoilimmersedtransformer AT yahuikou visuallocalizationofaninternalinspectionrobotfortheoilimmersedtransformer AT yanjuliu visuallocalizationofaninternalinspectionrobotfortheoilimmersedtransformer |