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平成31年3月
北海道情報大学紀要 第30巻 第2号別刷
オプティカルフローとテクスチャ内の画像特徴量に基づく
架空送電線領域検出
藤 原 孝 幸
北海道情報大学
Transmission Power Line Detection Based on Optical Flow and
Estimation of Aluminum Conductors Boundary
Takayuki FUJIWARA
Hokkaido Information University
1
Transmission Power Line Detection Based on Optical Flow and
Estimation of Aluminum Conductors Boundary
Takayuki Fujiwara*
( )
Abstract It is expected that the criteria would propose the inspection system for detecting the power line of
unusual condition such as the damage or the aged deterioration. In this paper, we propose the method for extracting the region of power line from the images obtained from the camera mounted on the automated moving device. Our method detected the region of power line even though there are the complex background with the roof of the building or the grove by using Optical Flow. Then it detected the detail region by using Graph Cuts for the post processing of the inspection.
* Associate Professor, Department of Information Media,
HIU
21
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北海道情報大学紀要 第30巻第2号:21~29,2019
〈論 文〉
2
1
( )
[1, 5, 6]
[4]
[1, 3]
[2]
[7]
[8]
2
[6]
20 25kg50kg
1 120o
3
SONY HDR-AS30V
2
1280x720600
22 藤 原 孝 幸
-2-
3
3
4
3
XY
4
(1)
(1)
λ
Ψ 180o θ 0o 5
2θ
Power Line
120o
camera1
camera2
camera3 入力
ガボールフィルタ
2値化
細線化
各ラベルの角度の分析
素線の検出
ラベリング
g(x, y;λ,θ,ψ,σ ,γ ) =
exp −x '2+γ 2y22σ 2
⎛
⎝⎜
⎞
⎠⎟cos 2π x '
λ+ψ
⎛
⎝⎜
⎞
⎠⎟,
(x ' = xcosθ + ysinθ, y ' = −xsinθ + ycosθ )
23オプティカルフローとテクスチャ内の画像特徴量に基づく架空送電線領域検出
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4
2
6
200 7
8
( )
94
2
4
10
frequency
angle 0o 180o
24 藤 原 孝 幸
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5
Sobel11(b)
211(c)
Canny2
11(d)
2Hough 12
θ Y±1/10π
θp d
θp < 0.01 (2) 20 < d < 100 (3) θ < (1/10)π, θ > (19/20)π (4)
入力
平滑化
エッジ抽出(Sobel)
2値化
細線化(Canny)
直線検出(Hough)
領域分割(Graph Cuts)
膨張
電線の左右端選定
25オプティカルフローとテクスチャ内の画像特徴量に基づく架空送電線領域検出
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6
[2]
13
()
120 fps
2
(5) mx = mid(ox, y) (5)
ox, y
mx
mx 14X
( )
mx
1513
26 藤 原 孝 幸
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7
RGB
pvi, p
p
Graph cuts16
1 xl - xr
90%
17
background
background
left edge of power line
right edge of power line
candidate region
(xl, y) (xr, y)
width of each line
27オプティカルフローとテクスチャ内の画像特徴量に基づく架空送電線領域検出
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8
5
240
17(a b) 1
17(c d) 2
17(e f) 3
Graph cuts
6
[1] Debenest, Paulo, Michele Guarnieri, Kensuke
Takita, Edwardo F. Fukushima, Shigeo Hirose, Kiyoshi Tamura, Akihiro Kimura, Hiroshi Kubokawa, Narumi Iwama, Fuminori Shiga (2010) "Expliner - Robot for Inspection of Transmission Lines", The transactions of the Institute of Electrical Engineers of Japan. B, A publication of Power and Energy Society 130(5), pp. 469-472.
[2] Farneback, Gunnar (2003) "Two-Frame Motion Estimation Based on Polynomial Expansion", Proceedings of SCIA2003, pp.363-370.
[3] (2013)
PI-15-020, IIS-15-046 [4]
(2013)13
1G1-6 [5] (2010)
R09016 [6] ( )
(2004)968, pp.1-90
[7] Matsuda, Jukiya, Takayuki Fujiwara, Jun-ichi Iwasaki, Shinya Ito and Shin-ichi Akegawa (2015) "Improvement of Transmission Power Line Detection by Using Gabor Filtering", Proceedings of Electronics, Information and Systems, SS6-2.
[8] Rother, Carsten, Vladimir Kolmogorov and
28 藤 原 孝 幸
-8-
9
Andrew Blake (2004) ""GrabCut" : Interactive foreground extraction using iterated graph cuts", ACM Transactions on Graphics, Vol.23-3, pp.309–314.
29オプティカルフローとテクスチャ内の画像特徴量に基づく架空送電線領域検出
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