3D Pose Estimation and Tracking of an Electricity Pylon

Emmanuel Y. Ali,Fred Nicolls

2020 INTERNATIONAL SAUPEC/ROBMECH/PRASA CONFERENCE(2020)

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Abstract
We demonstrate an algorithm for estimating the 6 degree-of-freedom pose of a textureless object such as a power pylon. The method is designed to be part of the inspection process for a transmission line. The approach involves three steps, namely predicting the vertices of the pylon with a neural network, establishing the correspondence between vertices with hashing techniques, and incrementally tracking the movement of the camera. We built a pylon model for the experiments and used it to generate our dataset.
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Key words
3D Object detection, Pose estimation, Transmission line inspection, Tracking
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