关键词: 输电线路检测, 目标识别, 方向梯度直方图, 支持向量机

Abstract: Vision based powerline inspection robot navigation plays an essential role in modern smart grid, power system, and powerline inspection. This paper presents a fast and accurate online object classification approach using the combination of Histogram of Oriented Gradient（HOG） features and Support Vector Machine（SVM）. Compared with traditional environmental constricted geometric based methods, the proposed approach significantly improves the classification performance without losing computing efficiency. In particular, the method works satisfactorily in large-scale complex background and illumination variation scenario. Experiment results show that the proposed approach can achieve the balance between accuracy and efficiency.

Key words: transmission line inspection, object recognition, directional gradient histogram, support vector machine