Real-time and post-production methods of orthophoto maps of power transmission channels based on tight coupling of GPS and monocular SLAM

doi:10.13474/j.cnki.11-2246.2025.1104

Abstract

Abstract: When encountering emergencies such as floods,fires,and mudslides,quickly identifying the disaster situation in the transmission channel is the primary task of the power grid's natural disaster emergency response.However,the traditional orthophoto image generation technology cannot meet the real-time requirements of emergency response.The existing technology has relatively few studies on the real-time generation of orthophoto images for long strip transmission channels,and lacks a systematic solution.This study proposes a monocular SLAM technology based on GPS tight coupling.By adding real geographic information scale and pose to the SLAM system,and using local and global optimization improved algorithms,the cumulative error problem in the traditional stitching algorithm is solved.Using dynamic Delaunay triangulation and orthorectification algorithms,and targeting the long strip characteristics of transmission lines,this paper adopts a real-time and post-event orthophoto generation strategy to optimize the video stitching process and ensure that the generated images have real-time and high resolution.The ablation experiment shows that the model generated by the systematic solution proposed in this paper effectively reduces the edge spikes,holes and image distortion in the orthophoto image,and the effect is better than a single SLAM model.Compared with the traditional Pix4D software,under the same conditions,the efficiency of post-orthophoto generation is increased by 34.64 times,and the integrity of orthophoto is increased by 70.59 percentage points.

Key words: fixed-wing UAV, power grid emergency, power transmission channel, video stitching, orthophoto, monocular SLAM, GPS tight coupling

CLC Number:

P237

CHEN Jingchuan, BAO Ruoyu, LUO Chaowei, LIU Xuedan, DENG Baichuan, LEI Ming. Real-time and post-production methods of orthophoto maps of power transmission channels based on tight coupling of GPS and monocular SLAM[J]. Bulletin of Surveying and Mapping, 2025, 0(11): 22-26,33.

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