Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
Using multiple view geometry for transmission tower reconstruction
Automated platforms that conduct power line inspections need to have a vision system which is robust for their harsh working environment. State-of-the-art work in this field focuses on detecting primitive shapes in 2D images in order to isolate power line hardware. Recent trends are starting to expl...
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
Department of Electrical Engineering
2016
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867613189956435968 |
|---|---|
| access_status_str | Open Access |
| author | Morarjee, Bhavani |
| author2 | Nicolls, Fred C |
| author_browse | Morarjee, Bhavani Nicolls, Fred C |
| author_facet | Nicolls, Fred C Morarjee, Bhavani |
| author_sort | Morarjee, Bhavani |
| collection | Thesis |
| description | Automated platforms that conduct power line inspections need to have a vision system which is robust for their harsh working environment. State-of-the-art work in this field focuses on detecting primitive shapes in 2D images in order to isolate power line hardware. Recent trends are starting to explore 3D vision for autonomous platforms, both for navigation and inspection. However, expensive options in the form of specialised hardware is being researched. A cost effective approach would begin with multiple view geometry. Therefore, this study aims to provide a 3D context in the form of a reconstructed transmission pylon that arises from image data. To this end, structure from motion techniques are used to understand multiple view geometry and extract camera extrinsics. Thereafter, a state-of-art line reconstruction algorithm is applied to produce a tower. The pipeline designed is capable of reconstructing a tower up to scale, provided that a known measurement of the scene is provided. Both 2D and 3D hypotheses are formed and scored using edge detection methods before being clustered into a final model. The process of matching 2D lines is based on an exploitation of epipolar geometry, where such 2D lines are detected via the Line Segment Detection (LSD) algorithm. The transmission tower reconstructions contrast their point cloud counterparts, in that no specialised tools or software is required. Instead, this work exploits the wiry nature of the tower and uses camera geometry to evaluate algorithms that are suitable for offline tower reconstruction. [Please note: the fulltext has been deferred until 9 December 2016] |
| format | Thesis |
| id | oai:open.uct.ac.za:11427/20463 |
| institution | University of Cape Town (South Africa) |
| language | eng |
| last_indexed | 2026-06-10T12:32:12.136Z |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository |
| publishDate | 2016 |
| publishDateRange | 2016 |
| publishDateSort | 2016 |
| publisher | Department of Electrical Engineering |
| publisherStr | Department of Electrical Engineering |
| record_format | dspace |
| source_str | UCTD — University of Cape Town Open Access Repository |
| spelling | oai:open.uct.ac.za:11427/20463 Using multiple view geometry for transmission tower reconstruction Morarjee, Bhavani Nicolls, Fred C Boje, Edward Electrical Engineering Automated platforms that conduct power line inspections need to have a vision system which is robust for their harsh working environment. State-of-the-art work in this field focuses on detecting primitive shapes in 2D images in order to isolate power line hardware. Recent trends are starting to explore 3D vision for autonomous platforms, both for navigation and inspection. However, expensive options in the form of specialised hardware is being researched. A cost effective approach would begin with multiple view geometry. Therefore, this study aims to provide a 3D context in the form of a reconstructed transmission pylon that arises from image data. To this end, structure from motion techniques are used to understand multiple view geometry and extract camera extrinsics. Thereafter, a state-of-art line reconstruction algorithm is applied to produce a tower. The pipeline designed is capable of reconstructing a tower up to scale, provided that a known measurement of the scene is provided. Both 2D and 3D hypotheses are formed and scored using edge detection methods before being clustered into a final model. The process of matching 2D lines is based on an exploitation of epipolar geometry, where such 2D lines are detected via the Line Segment Detection (LSD) algorithm. The transmission tower reconstructions contrast their point cloud counterparts, in that no specialised tools or software is required. Instead, this work exploits the wiry nature of the tower and uses camera geometry to evaluate algorithms that are suitable for offline tower reconstruction. [Please note: the fulltext has been deferred until 9 December 2016] 2016-07-20T06:47:48Z 2016-07-20T06:47:48Z 2016 Master Thesis Masters MSc (Eng) http://hdl.handle.net/11427/20463 eng Department of Electrical Engineering Faculty of Engineering and the Built Environment University of Cape Town |
| spellingShingle | Electrical Engineering Morarjee, Bhavani Using multiple view geometry for transmission tower reconstruction |
| thesis_degree_str | Master's |
| title | Using multiple view geometry for transmission tower reconstruction |
| title_full | Using multiple view geometry for transmission tower reconstruction |
| title_fullStr | Using multiple view geometry for transmission tower reconstruction |
| title_full_unstemmed | Using multiple view geometry for transmission tower reconstruction |
| title_short | Using multiple view geometry for transmission tower reconstruction |
| title_sort | using multiple view geometry for transmission tower reconstruction |
| topic | Electrical Engineering |
| url | http://hdl.handle.net/11427/20463 |
| work_keys_str_mv | AT morarjeebhavani usingmultipleviewgeometryfortransmissiontowerreconstruction |