Abstract. Collision detection for ensuring safe navigation around power transmission lines is a critical task for maintaining operational safety. With advancements in sensor technology, cameras and LiDAR have been increasingly utilized for monitoring potential safety hazards associated with power lines. However, a single, fixed-position sensor may be insufficient to capture adequate information for accurately estimating the spatial relationship between transmission lines and mechanical equipment. To address this limitation, this paper proposes a method for measuring the spatial distance between transmission lines and mechanical equipment based on the simultaneous estimation of the relative position and orientation (extrinsic calibration) of the camera-LiDAR system. First, an enhanced extrinsic calibration technique for the camera-LiDAR system is introduced to effectively mitigate the impact of data noise on calibration results. Then, based on the calibration results, a spatial distance measurement method is developed to achieve more accurate distance calculations. Experimental evaluations using real-world data across various scenarios demonstrate that the proposed method exhibits strong robustness and accuracy, making it highly valuable for power transmission line safety monitoring and risk assessment.
Lao et al. (Tue,) studied this question.
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