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 … ·...

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

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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

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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


－４－

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


－５－

6

[2]

13

()

120 fps

2

(5) mx = mid(ox, y) (5)

ox, y

mx

mx 14X

( )

mx

1513


－６－

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


－７－

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


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9

Andrew Blake (2004) ""GrabCut" : Interactive foreground extraction using iterated graph cuts", ACM Transactions on Graphics, Vol.23-3, pp.309–314.


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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 … ·...

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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 … ·...