电力线三维重建是机载激光雷达(LiDAR)电力巡线的一项重要任务之一。本文提出了一种基于架空输电线走廊机载LiDAR点云的电力线三维重建方法。首先,基于电塔LiDAR点和初始线路轨迹数据提取精确的电塔位置、电塔数量、线路轨迹、总档数等信息;然后,将线路分档,并确定每一档的二维空间范围和相应的电力线LiDAR点云;接着,分别对每一档的电力线LiDAR点云进行中心化投影,并利用k-means聚类将每一个电力线LiDAR点划分到相应的根;最后,利用直线和抛物线相结合的模型进行单档单根电力导线三维重建。两景试验表明,本文方法可以实现自动、高精度、正确的重建长距离架空输电线走廊电力线三维模型,重建过程中具有对电力线数目、空间配置结构、类型、粗差点、档距长度、点云不规则断裂等因素不敏感的优势。
3D power line reconstruction is one of the main tasks in power line patrols using LiDAR systems mounted on helicopters. A 3D reconstruction method is proposed to reconstruct the power lines from the airborne LiDAR point clouds of the overhead electric power transmission corridors. Firstly, the pylons' LiDAR points and the initial routine trajectory of the transmission lines are employed to derive the precise information such as the locations and number of the pylons, the real routine trajectory, and the total number of spans. Secondly, the power line corridor is divided into a number of spans, the scope of each span in the XOY plane is determined, and the powerline LiDAR points are allocated into the corresponding spans where they are located. Thirdly, the powerline points of each span are clustered by the k-means algorithm in a normalized projection space, and each cluster corresponds to one power line. Finally, each power line is reconstructed based on a combination of a line model and a parabola model. Two experiments suggest that the proposed method is capable of automatically and correctly reconstructing 3D models of the long power lines with high accuracy. Moreover, it is robust to many factors such as the changing number, types, arrangements, blunders of the power lines, the changing length of the spans, and the irregular breakage of the LiDAR point clouds.
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