Unmanned Aerial Vehicle Based Power Pole Localization Using Image Stitching

Abstract

When facing natural disasters, power transmission and distribution towers are prone to tilting, collapsing, and other situations, which can easily lead to line faults and subsequently cause power outage incidents. In order to quickly and accurately locate abnormal towers and restore power supply promptly, the power maintenance department typically employs unmanned aerial vehicles (UAVs) for post-disaster inspections of power line towers. Traditional methods for UAV ground target localization mainly rely on the UAV’s own position, attitude, and onboard sensor information to indirectly calculate the target’s position. This method is influenced by the Global Positioning System (GPS) and Inertial Navigation System (INS), relying on high-precision sensors. To achieve precise positioning of power line towers with simplified equipment on UAVs, this paper proposes a visual passive localization method based on ground control points. Addressing the sparse distribution of ground control points, a solution based on image stitching is introduced to overcome difficulties in localization caused by insufficient ground control points.