用激光雷达实时估算输电线姿态与弧垂，不追踪单根导线
Model-Based Real-Time Pose and Sag Estimation of Overhead Power Lines Using LiDAR for Drone Inspection
- 构建整组导线统一几何模型，通过匹配点云优化姿态
- 每帧处理低于50毫秒，支持实时飞行巡检
- 可容忍两倍于有效点的干扰点，适合复杂环境
无人机在带电状态下巡检架空输电线可显著简化流程，但利用机载激光雷达定位自身相对于所有导线的位置面临多重挑战：（1）导线表面积小，扫描点稀疏；（2）并非所有导线始终被检测到；（3）难以区分导线点与其他物体（如树木、铁塔）的点。本文提出一种基于几何模型的估计方法，通过最小化激光雷达测量值与整体导线阵列几何模型之间的误差，而非逐根追踪导线。实验结果表明，该方法在真实巡检数据下仍能实现高精度跟踪，求解器每帧收敛时间低于50毫秒，即使存在部分观测、噪声和异常点。敏感性分析显示，该方法可容忍的异常点数量是有效导线点数的两倍。
原文摘要 · Abstract (English)
Drones can inspect overhead power lines while they remain energized, significantly simplifying the inspection process. However, localizing a drone relative to all conductors using an onboard LiDAR sensor presents several challenges: (1) conductors provide minimal surface for LiDAR beams limiting the number of conductor points in a scan, (2) not all conductors are consistently detected, and (3) distinguishing LiDAR points corresponding to conductors from other objects, such as trees and pylons, is difficult. This paper proposes an estimation approach that minimizes the error between LiDAR measurements and a single geometric model representing the entire conductor array, rather than tracking individual conductors separately. Experimental results, using data from a power line drone inspection, demonstrate that this method achieves accurate tracking, with a solver converging under 50 ms per frame, even in the presence of partial observations, noise, and outliers. A sensitivity analysis shows that the estimation approach can tolerate up to twice as many outlier points as valid conductors measurements.
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