Abstract
This paper presents a computer vision application for the detection of a tie-wire in a live-line maintenance operation for the replacement of insulators. The tie-wire is wrapped around the electrical conductor and must be unwrapped by a special tool fixed to the end effector of a manipulator. The computer vision algorithm uses pyramidal image reduction, edge image analysis, and inverse perspective projection to count the number of tie-wire turns around the conductor and compute the three-dimensional coordinates of each turn (or the distance between adjacent turns).
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Laurendeau, D., Trottier, Y., Poussart, D. et al. The application of computer vision to the removal of tie-wires in a live-line maintenance robotics manipulation. Machine Vis. Apps. 4, 3–13 (1991). https://doi.org/10.1007/BF01240387
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DOI: https://doi.org/10.1007/BF01240387