The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Dynamic PCA algorithm for Detecting Types of Electric Poles

전신주의 종류 판별을 위한 동적 PCA 알고리즘

  • 최재영 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Published : 2010.03.01
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Abstract

This paper proposes a new dynamic PCA algorithm to recognize types of electric poles, which is necessary for a mobile robot moving along the neutral line for inspecting high-voltage facilities. Since the mobile robot needs to pass over the electric poles and grasp the neutral wire again for the next region inspection, the detection of the electric pole type is a critical factor for the successful passing-over the electric pole. The CCD camera installed on the mobile robot captures the image of the electric pole while it is approaching to the electric pole. Applying the dynamic PCA algorithm to the CCD image, the electric pole type has been classified to provide the stable grasping operation for the mobile robot. The new dynamic PCA algorithm replaces the reference image in real time to improve the robustness of the PCA algorithm, adjusts the brightness to get the clear images, and applies the Laplacian edge detection algorithm to increase the recognition rate of electric pole type. Through the real experiments, the effectiveness of this proposed dynamic PCA algorithm method using Laplacian edge detecting method has been demonstrated, which improves the recognition rate about 20% comparing to the conventional PCA algorithm.

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References

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