基于激光雷达与CNN的电力作业现场危险行为识别方法

    Identification Method of Dangerous Behavior in Power Operation Site Based on Laser Radar and CNN

    • 摘要: 电力作业现场的危险行为识别对图像空间坐标要求较高,受到光照环境影响容易使点云直方图掺杂较多不良信息,导致目标姿态估计在空间关键点坐标中出现偏移或特征信息重叠,无法将具有较高关联程度的特征量与风险行为进行匹配,从而影响危险行为识别输出结果的准确性。为此,文中提出了基于激光雷达与卷积神经网络(CNN)的电力作业现场危险行为识别方法。该方法应用激光雷达设备采集电力作业现场点云数据,采用统计滤波对其进行处理;以此为基础,构建危险行为识别CNN模型,将特征图转换为二维投影图像形式,与危险行为进行匹配,以确定特征图属于危险行为范畴,实现了危险行为的有效识别。测试结果显示:设计方法获得的危险行为识别结果与测试危险行为等级一致,危险行为识别灵敏度最大值为0.98,危险行为识别特异性最大值为0.94,充分证实了该方法具备较佳的危险行为识别性能。

       

      Abstract: The recognition of dangerous behaviors at power operation site requires high spatial coordinates of the image. Due to the influence of lighting environment, the point cloud histogram is easily mixed with a lot of bad information, resulting in offset or feature information overlap in the spatial key point coordinates of the target pose estimation. It is impossible to match the feature quantities with high correlation degree with the risk behavior, which affects the accuracy of the output result of dangerous behavior recognition. Therefore, an identification method of hazardous behaviors in power operation sites based on laser radar and convolutional neural network(CNN) is proposed. The proposed method collects point cloud data from power operation sites by using laser radar equipment and processes by using statistical filtering. Based on this, a CNN model for identifying dangerous behaviors is constructed, which converts the feature map into a two-dimensional projection image form, and matches it with dangerous behaviors to determine that the feature map belongs to the category of dangerous behaviors, achieving effective recognition of dangerous behaviors. The test results show that the dangerous behavior recognition results obtained by the proposed method are consistent with the tested dangerous behavior level. The maximum sensitivity of dangerous behavior recognition is 0.98, and the maximum specificity of dangerous behavior recognition is 0.94, which fully confirms that the design method has excellent dangerous behavior recognition performance.

       

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