Using multiple view geometry for transmission tower reconstruction

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dc.contributor.advisorNicolls, Fred Cen_ZA
dc.contributor.advisorBoje, Edwarden_ZA
dc.contributor.authorMorarjee, Bhavanien_ZA
dc.date.accessioned2016-07-20T06:47:48Z
dc.date.available2016-07-20T06:47:48Z
dc.date.issued2016en_ZA
dc.description.abstractAutomated platforms that conduct power line inspections need to have a vision system which is robust for their harsh working environment. State-of-the-art work in this field focuses on detecting primitive shapes in 2D images in order to isolate power line hardware. Recent trends are starting to explore 3D vision for autonomous platforms, both for navigation and inspection. However, expensive options in the form of specialised hardware is being researched. A cost effective approach would begin with multiple view geometry. Therefore, this study aims to provide a 3D context in the form of a reconstructed transmission pylon that arises from image data. To this end, structure from motion techniques are used to understand multiple view geometry and extract camera extrinsics. Thereafter, a state-of-art line reconstruction algorithm is applied to produce a tower. The pipeline designed is capable of reconstructing a tower up to scale, provided that a known measurement of the scene is provided. Both 2D and 3D hypotheses are formed and scored using edge detection methods before being clustered into a final model. The process of matching 2D lines is based on an exploitation of epipolar geometry, where such 2D lines are detected via the Line Segment Detection (LSD) algorithm. The transmission tower reconstructions contrast their point cloud counterparts, in that no specialised tools or software is required. Instead, this work exploits the wiry nature of the tower and uses camera geometry to evaluate algorithms that are suitable for offline tower reconstruction. [Please note: the fulltext has been deferred until 9 December 2016]en_ZA
dc.identifier.apacitationMorarjee, B. (2016). <i>Using multiple view geometry for transmission tower reconstruction</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/20463en_ZA
dc.identifier.chicagocitationMorarjee, Bhavani. <i>"Using multiple view geometry for transmission tower reconstruction."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016. http://hdl.handle.net/11427/20463en_ZA
dc.identifier.citationMorarjee, B. 2016. Using multiple view geometry for transmission tower reconstruction. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Morarjee, Bhavani AB - Automated platforms that conduct power line inspections need to have a vision system which is robust for their harsh working environment. State-of-the-art work in this field focuses on detecting primitive shapes in 2D images in order to isolate power line hardware. Recent trends are starting to explore 3D vision for autonomous platforms, both for navigation and inspection. However, expensive options in the form of specialised hardware is being researched. A cost effective approach would begin with multiple view geometry. Therefore, this study aims to provide a 3D context in the form of a reconstructed transmission pylon that arises from image data. To this end, structure from motion techniques are used to understand multiple view geometry and extract camera extrinsics. Thereafter, a state-of-art line reconstruction algorithm is applied to produce a tower. The pipeline designed is capable of reconstructing a tower up to scale, provided that a known measurement of the scene is provided. Both 2D and 3D hypotheses are formed and scored using edge detection methods before being clustered into a final model. The process of matching 2D lines is based on an exploitation of epipolar geometry, where such 2D lines are detected via the Line Segment Detection (LSD) algorithm. The transmission tower reconstructions contrast their point cloud counterparts, in that no specialised tools or software is required. Instead, this work exploits the wiry nature of the tower and uses camera geometry to evaluate algorithms that are suitable for offline tower reconstruction. [Please note: the fulltext has been deferred until 9 December 2016] DA - 2016 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2016 T1 - Using multiple view geometry for transmission tower reconstruction TI - Using multiple view geometry for transmission tower reconstruction UR - http://hdl.handle.net/11427/20463 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/20463
dc.identifier.vancouvercitationMorarjee B. Using multiple view geometry for transmission tower reconstruction. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20463en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Electrical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherElectrical Engineeringen_ZA
dc.titleUsing multiple view geometry for transmission tower reconstructionen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMSc (Eng)en_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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