A novel substation robot camera calibration method based on vanishing visual points

Jing, Tao; Zeng, Pingliang; Wu, Qiuxuan

doi:10.1109/acpee53904.2022.9783979

Cited by 1 publication

(1 citation statement)

References 9 publications

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“…This part uses the physical configuration characteristics of electric lines and busbars in the substation, combined with traditional off-line calibration in the initialization phase, the reprojection error cost function in the image plane is defined with camera pitch, yaw and roll calculated using vanishing visual point characteristics under the image plane. The robot camera is calibrated to control the reprojection error within an acceptable range [18].…”

Section: Vision Front Endmentioning

confidence: 99%

Online self-calibration and time synchronization of camera and IMU in substation scenarios

Zhang,

Zeng,

Jin

et al. 2023

Preprint

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As smart grids continue to evolve, inspection robots based on vision and inertial measurement unit (IMU) fusion systems (VIO) have become increasingly critical for ensuring safe operation and maintenance within substations.The implementation of VIO requires precise alignment of internal and external parameters, initialization, and synchronization of the IMU and camera sensor clocks.In this paper, a joint camera-IMU initialization algorithm is proposed that enables online self-calibration and time synchronization of camera and IMU, it extends the open-source VINS-Mono system to utilize depth data in the VIO phase. The algorithm proposed in this paper is evaluated through experiments performed on the EuRoC dataset. The results are compared with vision-only systems, VINS-Mono, and VI-ORB systems, demonstrating the potential for improved system performance compared to other algorithms. Moreover, a mobile robot platform equipped with vision and IMU sensors is built to verify the utility and effectiveness of the algorithm in real-world scenarios.

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Section: Vision Front Endmentioning

confidence: 99%