Pose Estimation of GIS Pipeline Based on Spatial Transformation Network

Abstract

Abstract The manual flange structure alignment between GIS pipelines in the power system is inefficient and difficult to accurately align. To solve this problem, combined with the research results in the field of deep learning named spatial transformation network, a new pose estimation method based on single camera is proposed. In view of the high similarity between the moving flange and the static flange at the pixel level, the spatial transformation network is used to find the pixel mapping relationship of the two flange images. Thereby establishing the mapping relationship between the pixel coordinates of the two flange images and then using multiple points. In the perspective method, the pixel coordinates are mapped to the world coordinates to obtain the estimation of the position of the key point in the flange, and then the direction vector of the flange is calculated according to the position of the key point. Since there is a pixel coordinate transformation relationship between the static flange and the movable flange. Only the position of the key point in the static flange can be inversely solved by measuring the position of the key point in the static flange. Experiments show that, compared to the traditional method of measuring flange pose based on instrument measurement and linear regression, the method proposed in this paper can accurately measure the pose of the flange structure. And it can rely as little as possible on the measurement of the key points of the moving flange by the instrument.