Abstract
During the inspection process on the electric power underground pipe gallery, the intelligent inspection robot has the problems of low positioning ac-curacy and poor real-time performance, due to the influence of the surrounding complex environment and network signal shielding in the underground pipe gallery. Based on the prior information of the environment in the pipe gallery, the accurate positioning of the inspection robot can be achieved by identifying and locating the related targets in the pipe gallery and geometric constraints. Among them, the target recognition and positioning in the pipe gallery is a key technology to complete the accurate positioning of the intelligent inspection robot. In this paper, a method based on SURF feature points matching and Hough Transform is proposed. By extracting and matching the feature points of the densitometer on the pipeline, the accurate positioning of the densitometer in the camera coordinate system of the intelligent inspection robot is completed. The experimental results show that the algorithm proposed in this paper has high positioning accuracy and fast speed, which can provide important information for the accurate positioning of the intelligent inspection robot based on the geometric features of the densitometer on pipeline.
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