Abstract
In this paper, the closed loop detection technology of depth vision scene recognition is adopted to overcome the problem that the visual odometer cannot initially locate, and the disadvantage that the location and azimuth can only be estimated publicly, which is easy to accumulate positioning errors. Through closed-loop detection, the scene map collected at present is matched with the scene in the atlas in real time, and the binocular vision attitude adjustment algorithm is assisted to obtain the topological determination with high accuracy. In this way, the navigation and positioning accuracy based on depth vision sensor in the indoor environment of the substation is greatly improved, and the accurate positioning of substation personnel is realized. Thus, the dangerous area is delimited, and the safety control of personnel on-site operation station is realized, which greatly improves personal safety.
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Acknowledgements
This work was financially supported by the science and technology project to State Grid Corporation “Research on Intelligent Reconstruction and Cognitive Technology of Complex Dynamic Work Environment Based on Depth Vision (SGJSDK00PXJS1800444)”.
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Min, X. et al. (2020). Fusion and Localization Technology of 3D Model Attitude and Real Physical Environment Visualization Information of Power Inspection Site. In: Kountchev, R., Patnaik, S., Shi, J., Favorskaya, M. (eds) Advances in 3D Image and Graphics Representation, Analysis, Computing and Information Technology. Smart Innovation, Systems and Technologies, vol 180. Springer, Singapore. https://doi.org/10.1007/978-981-15-3867-4_9
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DOI: https://doi.org/10.1007/978-981-15-3867-4_9
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