LiDAR-Based Object Recognition for Robotic Inspection of Power Lines

José Mário Nishihara de Albuquerque, Ronnier Rohrich

2024

Abstract

This article presents a novel technique using Light Detection and Ranging (LiDAR) sensors implemented in an autonomous robot for the multimodal predictive inspection of high-voltage transmission lines (LaRa). The method enhances the robot’s capabilities by providing vertical perception and classifying transmission-line components using artificial-intelligence techniques. The LiDAR-based system focuses on analyzing two-dimensional (2D) slices of objects, reducing the data volume, and increasing the computational efficiency. Object classification was achieved by calculating the absolute differences within a 2D slice to create unique signatures. When evaluated experimentally with a k-nearest neighbors network on a Raspberry Pi on a real robot, the system accurately detected objects such as dampers, signals, and insulators during linear movement experiments. The results indicated that this approach significantly improves LaRa’s ability to recognize power-line components, achieving high classification accuracy and exhibiting potential for advanced autonomous inspection applications.

Paper Citation

in Harvard Style

Mário Nishihara de Albuquerque J. and Rohrich R. (2024). LiDAR-Based Object Recognition for Robotic Inspection of Power Lines. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 197-204. DOI: 10.5220/0012985800003822

in Bibtex Style

@conference{icinco24,
author={José Mário Nishihara de Albuquerque and Ronnier Rohrich},
title={LiDAR-Based Object Recognition for Robotic Inspection of Power Lines},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={197-204},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012985800003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - LiDAR-Based Object Recognition for Robotic Inspection of Power Lines
SN - 978-989-758-717-7
AU - Mário Nishihara de Albuquerque J.
AU - Rohrich R.
PY - 2024
SP - 197
EP - 204
DO - 10.5220/0012985800003822
PB - SciTePress