Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines
Collision detection for ensuring safe navigation around power transmission lines is a critical task for maintaining operational safety. With advancements in sensor technology, cameras and LiDAR have been increasingly utilized for monitoring potential safety hazards associated with power lines. Howev...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2025-07-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/877/2025/isprs-archives-XLVIII-G-2025-877-2025.pdf |
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| _version_ | 1839610124796166144 |
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| author | Y. Lao S. Wei S. Wei G. Liu C. Liu T. Yang |
| author_facet | Y. Lao S. Wei S. Wei G. Liu C. Liu T. Yang |
| author_sort | Y. Lao |
| collection | DOAJ |
| description | Collision detection for ensuring safe navigation around power transmission lines is a critical task for maintaining operational safety. With advancements in sensor technology, cameras and LiDAR have been increasingly utilized for monitoring potential safety hazards associated with power lines. However, a single, fixed-position sensor may be insufficient to capture adequate information for accurately estimating the spatial relationship between transmission lines and mechanical equipment. To address this limitation, this paper proposes a method for measuring the spatial distance between transmission lines and mechanical equipment based on the simultaneous estimation of the relative position and orientation (extrinsic calibration) of the camera-LiDAR system. First, an enhanced extrinsic calibration technique for the camera-LiDAR system is introduced to effectively mitigate the impact of data noise on calibration results. Then, based on the calibration results, a spatial distance measurement method is developed to achieve more accurate distance calculations. Experimental evaluations using real-world data across various scenarios demonstrate that the proposed method exhibits strong robustness and accuracy, making it highly valuable for power transmission line safety monitoring and risk assessment. |
| format | Article |
| id | doaj-art-7e09e747d2e941878f6e2fd979c46acf |
| institution | Matheson Library |
| issn | 1682-1750 2194-9034 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj-art-7e09e747d2e941878f6e2fd979c46acf2025-07-29T20:19:13ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342025-07-01XLVIII-G-202587788410.5194/isprs-archives-XLVIII-G-2025-877-2025Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission LinesY. Lao0S. Wei1S. Wei2G. Liu3C. Liu4T. Yang5School of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaEngineering Research Center of Representative Building and Architectural Heritage Database, Ministry of Education, Beijing 102616, ChinaThe State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaSchool of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 102616, ChinaCollision detection for ensuring safe navigation around power transmission lines is a critical task for maintaining operational safety. With advancements in sensor technology, cameras and LiDAR have been increasingly utilized for monitoring potential safety hazards associated with power lines. However, a single, fixed-position sensor may be insufficient to capture adequate information for accurately estimating the spatial relationship between transmission lines and mechanical equipment. To address this limitation, this paper proposes a method for measuring the spatial distance between transmission lines and mechanical equipment based on the simultaneous estimation of the relative position and orientation (extrinsic calibration) of the camera-LiDAR system. First, an enhanced extrinsic calibration technique for the camera-LiDAR system is introduced to effectively mitigate the impact of data noise on calibration results. Then, based on the calibration results, a spatial distance measurement method is developed to achieve more accurate distance calculations. Experimental evaluations using real-world data across various scenarios demonstrate that the proposed method exhibits strong robustness and accuracy, making it highly valuable for power transmission line safety monitoring and risk assessment.https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/877/2025/isprs-archives-XLVIII-G-2025-877-2025.pdf |
| spellingShingle | Y. Lao S. Wei S. Wei G. Liu C. Liu T. Yang Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines |
| title_full | Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines |
| title_fullStr | Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines |
| title_full_unstemmed | Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines |
| title_short | Enhanced Extrinsic Calibration Method for Camera-LiDAR Fusion and Monitoring of Safety Threats to Power Transmission Lines |
| title_sort | enhanced extrinsic calibration method for camera lidar fusion and monitoring of safety threats to power transmission lines |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/877/2025/isprs-archives-XLVIII-G-2025-877-2025.pdf |
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