一种多传感器融合的输电线路工程量核算方法

A method of the engineering quantity calculation of transmission lines based on multi-sensor fusion

摘要

在分析输电线路工程量时,若依靠单一传感器获取施工数据,易存在很多测量死角,导致工程量核算结果相对误差较大。为此,提出以多传感器融合为基础的新的输电线路工程量核算方法。首先,利用双目摄像头、激光雷达、倾角传感器等多种传感单元采集输电线路工程数据,并利用一致性算法融合多传感器测量数值。根据多传感器数据融合结果构建点云地图,并结合因子图优化策略不断更新地图,生成全方面的输电线路工程环境地图。最后,通过特征提取、空三测量、多视角影像密集匹配等操作环节,构建工程实景三维可视化模型,再对工程量核算区域设置方格网,获取每个方格的工程量清单,汇总后得到最终的工程量核算结果。实验结果表明,该方法可以将工程量核算结果相对误差保持在5%以下,具有可行性。

Abstract

When analyzing the quantity of transmission line engineering, relying on a single sensor to obtain construction data can easily lead to many measurement blind spots, resulting in relatively large errors in the calculation results of the engineering quantity. Therefore, a new method for calculating the engineering quantity of transmission lines based on multi-sensor fusion is proposed. Firstly, various sensing units such as binocular cameras, LiDAR, and tilt sensors are used to collect data on transmission line engineering, and consistency algorithms are used to fuse multi-sensor measurement values. It constructs a point cloud map based on multi-sensor data fusion results, and continuously updates the map by combining factor graph optimization strategies to generate a comprehensive map of the transmission line engineering environment. Finally, through feature extraction, aerial triangulation, and dense matching of multi view images, a three-dimensional visualization model of the engineering scene is constructed. Then, a grid is set up in the engineering quantity accounting area to obtain the engineering quantity list for each grid. After summarizing, the final engineering quantity accounting result is obtained. The experimental results show that this method can keep the relative error of the engineering quantity accounting results below 5%, which is feasible.

关键词

多传感器融合 / 输电线路 / 工程量核算 / 实景三维模型 / 空三测量 / 方格网

Key words

multi-sensor fusion / transmission line / engineering quantity accounting / realistic 3D model / space measurement / square grid