Power line icing monitoring method using binocular stereo vision

The disaster of overhead power line icing is one of the most significant problems which tremendously damage the safety of power grids. With the rapid development of computer vision and unmanned aerial vehicle, this paper designs a UAV-based on-binocular stereo vision system to monitor power line icing through a method to obtain the ice thickness automatically. The main steps include power line detection, the 3D coordinate measurement of the edge points, fitting icing power line. The system has been verified on power line icing scene experimental platform, and the results are accurate.