CN115797583A - Three-dimensional modeling method and system for power line corridor - Google Patents
Three-dimensional modeling method and system for power line corridor Download PDFInfo
- Publication number
- CN115797583A CN115797583A CN202211507104.2A CN202211507104A CN115797583A CN 115797583 A CN115797583 A CN 115797583A CN 202211507104 A CN202211507104 A CN 202211507104A CN 115797583 A CN115797583 A CN 115797583A
- Authority
- CN
- China
- Prior art keywords
- power line
- point cloud
- line corridor
- point
- cloud data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a three-dimensional modeling method and a three-dimensional modeling system for an electric power line corridor, which are characterized in that three-dimensional point clouds of the electric power line corridor are obtained by scanning through an airborne three-dimensional laser scanning technology, the point cloud data are preprocessed, then the point cloud data are accurately classified through a gradient filtering algorithm, point cloud dimensional characteristics and space geometric distribution characteristics, and finally a high-precision three-dimensional model of the electric power line corridor is obtained through characteristic extraction and three-dimensional reconstruction. Through the reconstructed high-precision three-dimensional model of the power line corridor, whether live-line work can be carried out by using the insulating bucket arm vehicle in the surrounding environment of the fault line can be judged, and guidance is provided for live-line work of the distribution line. The technical problems that in the prior art, whether live-line work can be carried out by using an insulating bucket arm vehicle or not is not carried out on the surrounding environment of a fault line in advance, resource waste is easily caused, and the working efficiency is easily influenced are solved.
Description
Technical Field
The invention relates to the technical field of three-dimensional modeling of power line corridors, in particular to a three-dimensional modeling method and a three-dimensional modeling system of a power line corridor.
Background
The uninterrupted operation of the power line of the power distribution network is an important measure for improving the power supply reliability and reducing the economic loss. Current live working needs to use insulating arm car cooperation insulating gloves method to develop, but operation place scene and shaft tower equipment all can influence the use of insulating arm car, if do not carry out the judgement that can use insulating arm car to carry out live working to fault line surrounding environment in advance, then can cause to use insulating arm car at the scene that can not use insulating arm car to carry out live working, lead to the wasting of resources and influence the operating efficiency. Therefore, the invention provides a three-dimensional modeling method and a three-dimensional modeling system for a power line corridor, which are used for three-dimensional modeling of the surrounding environment of a fault line, so as to judge whether the surrounding environment of the fault line can be subjected to live-wire work by using an insulating bucket arm vehicle in advance, avoid resource waste and improve the working efficiency.
Disclosure of Invention
The invention provides a three-dimensional modeling method and a three-dimensional modeling system for a power line corridor, which are used for solving the technical problems that in the prior art, whether live-line work can be carried out by using an insulating bucket arm vehicle or not is not carried out on the surrounding environment of a fault line in advance, so that resource waste is easily caused and the working efficiency is easily influenced.
In view of the above, the present invention provides a three-dimensional modeling method for a power line corridor, including:
scanning the power line corridor through an airborne three-dimensional laser scanning system to obtain power line corridor point cloud data;
preprocessing the power line corridor point cloud data to remove redundant and defective power line corridor point cloud data;
carrying out point cloud data classification on the preprocessed power line corridor point cloud data, firstly separating ground point cloud and non-ground point cloud by using a filtering algorithm based on gradient, and then separating wire points, pole tower points, forest vegetation and buildings from the non-ground points according to the dimensional characteristics and the space geometric distribution characteristics of the point cloud;
and extracting the three-dimensional characteristics of the power line corridor according to the point cloud data classification result, and reconstructing a three-dimensional model of the power line corridor.
Optionally, the method includes scanning the power line corridor through an airborne three-dimensional laser scanning system to obtain power line corridor point cloud data, and the method includes:
planning the track route of the unmanned aerial vehicle according to the position and the terrain of the power line corridor, and setting the flight speed and the flight height of the unmanned aerial vehicle.
Optionally, the pre-processing of the power line corridor point cloud data to remove redundant and defective power line corridor point cloud data includes:
filtering hash points and isolated points of the power line corridor point cloud data;
the XYZ axis coordinate range is filtered through a pass-through filter and the region of interest is delineated.
Optionally, the gradient-based filtering algorithm separates the ground point cloud and the non-ground point cloud, including:
dividing the power line corridor point cloud data according to grids, and setting grid size and gradient threshold values;
sequentially circulating the grids, searching the lowest point of each grid, and calculating a gradient value for the non-lowest points in the grids, wherein the calculation formula of the gradient value is as follows:
wherein SV is a gradient value, (X) P ,Y P ,Z P ) Is the coordinate of the lowest point P of the grid, (X, Y, Z) is the coordinate of the non-lowest point within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value greater than the gradient threshold value as a ground point, and determining the point with the gradient value not greater than the gradient threshold value as a non-ground point.
Optionally, the calculation formula of the point cloud dimensional feature is as follows:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and scattered distribution respectively for the D point neighborhood, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively are eigenvalues of the covariance matrix of the neighborhood point set.
The invention provides a three-dimensional modeling system for a power line corridor, which comprises:
the point cloud acquisition module is used for scanning the power line corridor through the airborne three-dimensional laser scanning system to obtain power line corridor point cloud data;
the preprocessing module is used for preprocessing the power line corridor point cloud data and removing redundant and defective power line corridor point cloud data;
the classification module is used for performing point cloud data classification on the preprocessed power line corridor point cloud data, separating ground point cloud and non-ground point cloud by using a filtering algorithm based on gradient, and separating wire points, pole tower points, forest vegetation and buildings from the non-ground points according to the dimensional characteristics and the space geometric distribution characteristics of the point cloud;
and the reconstruction module is used for extracting the three-dimensional characteristics of the power line corridor according to the point cloud data classification result and reconstructing a three-dimensional model of the power line corridor.
Optionally, the unmanned aerial vehicle planning system further comprises an unmanned aerial vehicle planning module;
and the unmanned aerial vehicle planning module is used for planning an unmanned aerial vehicle track route according to the position and the terrain of the power line corridor, and setting the flight speed and the flight height of the unmanned aerial vehicle.
Optionally, the preprocessing module is specifically configured to:
filtering hash points and isolated points of the point cloud data of the power line corridor;
the XYZ axis coordinate range is filtered by a pass-through filter and the region of interest is delineated.
Optionally, the grade-based filtering algorithm separates the ground point cloud and the non-ground point cloud, including:
dividing the power line corridor point cloud data according to a grid, and setting the size and gradient threshold of the grid;
sequentially circulating the grids, searching the lowest point of each grid, and calculating a gradient value for the non-lowest points in the grids, wherein the gradient value is calculated according to the formula:
wherein SV is a gradient value, (X) P ,Y P ,Z P ) (X, Y, Z) are the coordinates of the non-lowest points within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value greater than the gradient threshold value as a ground point, and determining the point with the gradient value not greater than the gradient threshold value as a non-ground point.
Optionally, the calculation formula of the point cloud dimensional features is as follows:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and scattered distribution respectively for the D point neighborhood, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively, the eigenvalues of the neighborhood co-point set variance matrix.
According to the technical scheme, the three-dimensional modeling method and the three-dimensional modeling system for the power line corridor, provided by the invention, have the following advantages:
according to the three-dimensional modeling method for the power line corridor, the three-dimensional point cloud of the power line corridor is obtained through scanning by an airborne three-dimensional laser scanning technology, after the point cloud data are preprocessed, the point cloud data are accurately classified through a gradient filtering algorithm, point cloud dimensional characteristics and space geometric distribution characteristics, and finally, a high-precision three-dimensional model of the power line corridor is obtained through characteristic extraction and three-dimensional reconstruction. Whether live working can be carried out by using the insulating bucket arm vehicle in the surrounding environment of the fault line can be judged through the reconstructed high-precision three-dimensional model of the power line corridor, and guidance is provided for live working of the distribution line. The technical problems that in the prior art, whether live-line work can be carried out by using an insulating bucket arm vehicle or not is not carried out on the surrounding environment of a fault line in advance, resource waste is easily caused, and the working efficiency is easily influenced are solved.
The principle and the obtained technical effect of the three-dimensional modeling system of the power line corridor provided by the invention are the same as those of the three-dimensional modeling method of the power line corridor provided by the invention, and the description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a three-dimensional modeling method for a power line corridor provided in the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional modeling system for a power line corridor provided in the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For easy understanding, referring to fig. 1, the present invention provides an embodiment of a three-dimensional modeling method for a power line corridor, including:
It should be noted that, according to the fault line location position, factors such as topographic relief and vegetation density are considered, a flight path, flight speed and flight height of the unmanned aerial vehicle are planned, the unmanned aerial vehicle carrying the three-dimensional laser scanning system is controlled to fly, the power line corridor is scanned, and point cloud data of the power line corridor are obtained.
It should be noted that, in order to avoid the influence of abnormal point clouds on the accuracy of three-dimensional modeling of the power line corridor, scanned point cloud data needs to be preprocessed, redundant and defective power line corridor point cloud data are eliminated, specifically, hash points and isolated points of the power line corridor point cloud data are filtered, and then an XYZ-axis coordinate range is filtered through a straight-through filter and an area of interest is defined. When the airborne three-dimensional laser scanning system scans, unnecessary point cloud data of the edge area can be obtained, the area of interest is defined, namely the three-dimensional modeling area of the target is selected, the point cloud of the edge area can be removed, and the modeling speed is accelerated.
The preprocessed power line corridor point cloud data are subjected to type division, ground point cloud and non-ground point cloud are separated, and then wire points, pole tower points, forest vegetation and building point cloud data in the non-ground point cloud are separated. Specifically, use the filtering algorithm based on the slope to separate ground point cloud and non-ground point cloud, divide power line corridor point cloud data according to the graticule mesh, set up graticule mesh size and slope threshold value, the graticule mesh is circulated in order, seeks the minimum of every graticule mesh, calculates the slope value to the non-minimum in the graticule mesh, and the computational formula of slope value is:
wherein SV is a gradient value (X) P ,Y P ,Z P ) Is the coordinate of the lowest point P of the grid, (X, Y, Z) is the coordinate of the non-lowest point within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value larger than the gradient threshold value as a ground point, and determining the point with the gradient value not larger than the gradient threshold value as a non-ground point.
The calculation formula of the point cloud dimension characteristics is as follows:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and scattered distribution respectively for the D point neighborhood, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively are eigenvalues of the covariance matrix of the neighborhood point set.
For a building point cloud: the eigenvalues in the three directions satisfy lambda 1 ≈λ 2 ≈λ 3 And if the space geometric distribution characteristics show a planar characteristic, the building point cloud can be classified.
For forest vegetation point cloud: the eigenvalues in the three directions satisfy lambda 1 ≈λ 2 ≈λ 3 And if the spatial geometric distribution characteristic shows a spherical characteristic, the forest vegetation point cloud can be classified.
The point cloud of the conducting wire points is distributed horizontally, and the point cloud of the tower points is distributed vertically.
And 104, extracting three-dimensional characteristics of the power line corridor according to the point cloud data classification result, and reconstructing a three-dimensional model of the power line corridor.
After the point cloud of the wire point, the point cloud of the tower point, the point cloud of the building point and the point cloud of the forest vegetation are separated, the three-dimensional characteristics of the building, the forest vegetation, the tower and the wire of the power line corridor are extracted, and the three-dimensional model of the power line corridor is reconstructed. Continuous wires can be obtained according to catenary fitting so as to overcome the problem of point cloud loss of the wires.
According to the three-dimensional modeling method for the power line corridor, the three-dimensional point cloud of the power line corridor is obtained through scanning by an airborne three-dimensional laser scanning technology, after the point cloud data are preprocessed, the point cloud data are accurately classified through a gradient filtering algorithm, point cloud dimensional characteristics and space geometric distribution characteristics, and finally, a high-precision three-dimensional model of the power line corridor is obtained through characteristic extraction and three-dimensional reconstruction. Through the reconstructed high-precision three-dimensional model of the power line corridor, whether live-line work can be carried out by using the insulating bucket arm vehicle in the surrounding environment of the fault line can be judged, and guidance is provided for live-line work of the distribution line. The technical problems that in the prior art, whether live-line work can be carried out by using an insulating bucket arm vehicle or not is not carried out on the surrounding environment of a fault line in advance, resource waste is easily caused, and the working efficiency is easily influenced are solved.
For ease of understanding, referring to fig. 2, an embodiment of a power line corridor three-dimensional modeling system is provided in the present invention, comprising:
the point cloud acquisition module is used for scanning the power line corridor through the airborne three-dimensional laser scanning system to obtain power line corridor point cloud data;
the preprocessing module is used for preprocessing the power line corridor point cloud data and removing redundant and defective power line corridor point cloud data;
the classification module is used for performing point cloud data classification on the preprocessed power line corridor point cloud data, separating ground point cloud and non-ground point cloud by using a filtering algorithm based on gradient, and separating wire points, pole tower points, forest vegetation and buildings from the non-ground points according to the dimensional characteristics and the space geometric distribution characteristics of the point cloud;
and the reconstruction module is used for extracting the three-dimensional characteristics of the power line corridor according to the point cloud data classification result and reconstructing a three-dimensional model of the power line corridor.
The unmanned aerial vehicle planning system also comprises an unmanned aerial vehicle planning module;
and the unmanned plane planning module is used for planning a flight path of the unmanned plane according to the position and the terrain of the power line corridor, and setting the flight speed and the flight height of the unmanned plane.
The preprocessing module is specifically configured to:
filtering hash points and isolated points of the power line corridor point cloud data;
the XYZ axis coordinate range is filtered by a pass-through filter and the region of interest is delineated.
The gradient-based filtering algorithm for separating the ground point cloud and the non-ground point cloud comprises the following steps:
dividing the power line corridor point cloud data according to grids, and setting grid size and gradient threshold values;
sequentially circulating the grids, searching the lowest point of each grid, and calculating a gradient value for the non-lowest points in the grids, wherein the gradient value is calculated according to the formula:
wherein SV is a gradient value, (X) P ,Y P ,Z P ) (X, Y, Z) are the coordinates of the non-lowest points within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value larger than the gradient threshold value as a ground point, and determining the point with the gradient value not larger than the gradient threshold value as a non-ground point.
The calculation formula of the point cloud dimension characteristics is as follows:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and scattered distribution respectively for the D point neighborhood, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively are eigenvalues of the covariance matrix of the neighborhood point set.
The principle and the obtained technical effect of the three-dimensional modeling system of the power line corridor provided by the invention are the same as those of the three-dimensional modeling method of the power line corridor provided by the invention, and the description is omitted.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A three-dimensional modeling method for a power line corridor, comprising:
scanning the power line corridor through an airborne three-dimensional laser scanning system to obtain power line corridor point cloud data;
preprocessing the power line corridor point cloud data to remove redundant and defective power line corridor point cloud data;
carrying out point cloud data classification on the preprocessed power line corridor point cloud data, firstly separating ground point cloud and non-ground point cloud by using a filtering algorithm based on gradient, and then separating wire points, pole tower points, forest vegetation and buildings from the non-ground points according to the dimensional characteristics and the space geometric distribution characteristics of the point cloud;
and extracting the three-dimensional characteristics of the power line corridor according to the point cloud data classification result, and reconstructing a three-dimensional model of the power line corridor.
2. The method of claim 1, wherein the power line corridor is scanned by an airborne three-dimensional laser scanning system to obtain power line corridor point cloud data, and the method further comprises:
planning the track route of the unmanned aerial vehicle according to the position and the terrain of the power line corridor, and setting the flight speed and the flight height of the unmanned aerial vehicle.
3. The method of claim 1, wherein the step of pre-processing the power line corridor point cloud data to remove redundant and defective power line corridor point cloud data comprises:
filtering hash points and isolated points of the power line corridor point cloud data;
the XYZ axis coordinate range is filtered by a pass-through filter and the region of interest is delineated.
4. The power line corridor three-dimensional modeling method of claim 1 wherein a grade-based filtering algorithm separates ground point clouds and non-ground point clouds, including:
dividing the power line corridor point cloud data according to a grid, and setting the size and gradient threshold of the grid;
sequentially circulating the grids, searching the lowest point of each grid, and calculating a gradient value for the non-lowest points in the grids, wherein the calculation formula of the gradient value is as follows:
wherein SV is a gradient value, (X) P ,Y P ,Z P ) (X, Y, Z) are the coordinates of the non-lowest points within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value greater than the gradient threshold value as a ground point, and determining the point with the gradient value not greater than the gradient threshold value as a non-ground point.
5. The three-dimensional modeling method for the power line corridor according to claim 1, wherein the calculation formula of the point cloud dimensional features is as follows:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and scattered distribution respectively for the D point neighborhood, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively are eigenvalues of the covariance matrix of the neighborhood point set.
6. A power line corridor three-dimensional modeling system, comprising:
the point cloud acquisition module is used for scanning the power line corridor through the airborne three-dimensional laser scanning system to obtain power line corridor point cloud data;
the preprocessing module is used for preprocessing the point cloud data of the power line corridor to remove redundant and defective point cloud data of the power line corridor;
the classification module is used for performing point cloud data classification on the preprocessed power line corridor point cloud data, separating ground point cloud and non-ground point cloud by using a filtering algorithm based on gradient, and separating lead points, pole tower points, forest vegetation and buildings from the non-ground points according to the dimensional characteristics and the space geometric distribution characteristics of the point cloud;
and the reconstruction module is used for extracting the three-dimensional characteristics of the power line corridor according to the point cloud data classification result and reconstructing a three-dimensional model of the power line corridor.
7. The power line corridor three-dimensional modeling system according to claim 6, further comprising an unmanned aerial vehicle planning module;
and the unmanned aerial vehicle planning module is used for planning an unmanned aerial vehicle track route according to the position and the terrain of the power line corridor, and setting the flight speed and the flight height of the unmanned aerial vehicle.
8. The three-dimensional modeling system of an electric power line corridor as claimed in claim 6, wherein the preprocessing module is specifically configured to:
filtering hash points and isolated points of the point cloud data of the power line corridor;
the XYZ axis coordinate range is filtered by a pass-through filter and the region of interest is delineated.
9. The power line corridor three-dimensional modeling system according to claim 6, wherein a grade-based filtering algorithm separates ground point clouds and non-ground point clouds, including:
dividing the power line corridor point cloud data according to a grid, and setting the size and gradient threshold of the grid;
sequentially circulating the grids, searching the lowest point of each grid, and calculating a gradient value for the non-lowest points in the grids, wherein the calculation formula of the gradient value is as follows:
wherein SV is a gradient value, (X) P ,Y P ,Z P ) (X, Y, Z) are the coordinates of the non-lowest points within the grid;
and comparing the gradient value of each point of each grid with a gradient threshold value, determining the point with the gradient value larger than the gradient threshold value as a ground point, and determining the point with the gradient value not larger than the gradient threshold value as a non-ground point.
10. The power line corridor three-dimensional modeling system according to claim 6, wherein the calculation formula of the point cloud dimensional feature is:
wherein, a 1D 、a 2D And a 3D The probability of linear, planar and random distribution for the D point neighborhood respectively, a 1D +a 2D +a 3D ＝1，λ 1 、λ 2 And λ 3 Respectively are eigenvalues of the covariance matrix of the neighborhood point set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211507104.2A CN115797583A (en) | 2022-11-29 | 2022-11-29 | Three-dimensional modeling method and system for power line corridor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211507104.2A CN115797583A (en) | 2022-11-29 | 2022-11-29 | Three-dimensional modeling method and system for power line corridor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115797583A true CN115797583A (en) | 2023-03-14 |
Family
ID=85442745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211507104.2A Pending CN115797583A (en) | 2022-11-29 | 2022-11-29 | Three-dimensional modeling method and system for power line corridor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115797583A (en) |
-
2022
- 2022-11-29 CN CN202211507104.2A patent/CN115797583A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109829199B (en) | Power line rapid layered extraction method based on LiDAR point cloud | |
| AU2012255696B2 (en) | Method and system for processing image data | |
| CN110780681A (en) | Unmanned aerial vehicle autonomous inspection insulator path planning method based on laser point cloud | |
| CN107146277B (en) | Method for modeling transformer substation based on point cloud data | |
| CN107767389A (en) | A kind of power transmission line extraction method based on airborne laser point cloud data | |
| CN114114314A (en) | Power transmission line inspection detection system and detection method based on laser point cloud | |
| CN110544308B (en) | Transformer substation modeling method and device, computer equipment and storage medium | |
| CN110675441B (en) | Laser point cloud-based power transmission line ground wire modeling extraction method | |
| CN112883878A (en) | Automatic point cloud classification method under transformer substation scene based on three-dimensional grid | |
| CN108846374B (en) | Power equipment inspection method and device | |
| CN115825984A (en) | Power transmission line inspection system and inspection method based on laser point cloud | |
| CN113345094A (en) | Electric power corridor safety distance analysis method and system based on three-dimensional point cloud | |
| CN117132915B (en) | Power transmission line tree obstacle hidden danger analysis method based on automatic classification of point cloud | |
| CN116071530B (en) | Building roof voxelized segmentation method based on airborne laser point cloud | |
| CN115797583A (en) | Three-dimensional modeling method and system for power line corridor | |
| CN116520881A (en) | Unmanned plane continuous tower foundation three-dimensional inspection path planning method based on laser point cloud | |
| CN115760725B (en) | Laser radar-based transmission line external force intrusion monitoring method, medium and equipment | |
| Guo et al. | Denoising of a multi-station point cloud and 3D modeling accuracy for substation equipment based on statistical outlier removal | |
| CN116309828A (en) | Three-dimensional laser point cloud data-based power pole information extraction method | |
| CN115830234A (en) | Point cloud processing method and system for power transmission line modeling | |
| CN111915721B (en) | Method and system for extracting horizontal section of power transmission line corridor building based on laser point cloud | |
| CN115793695A (en) | Generation method and device of substation patrol route | |
| CN112558091A (en) | Real-time detection method and device for spatial distance of power transmission line to tree and terminal equipment | |
| CN115410036A (en) | Automatic classification method for key element laser point clouds of high-voltage overhead transmission line | |
| Su et al. | Automatic multi-source data fusion technique of powerline corridor using UAV Lidar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |