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A transmission line is one of the most hazardous objects to low altitude flying aircraft. Due to its extremely tiny size and unsalient visual features, transmission line detection (TLD) is a well-recognized problem. In this paper, a novel TLD method is proposed with the assistance of the spatial correlation between pylon and line for TLD. First, a unidirectional spatial mapping is built up to describe the pylon line spatial correlation. Then, the proposed pylon line spatial correlation and other line features are integrated into a Bayesian framework, which is trained in advance and used to estimate the probability of one line segment belonging to a transmission line. Compared with three other line-based TLD methods, the experimental results demonstrate that the proposed method can obtain better detection performance with higher detection rates and much lower false alarm rates. [ABSTRACT FROM AUTHOR]

Vision-based power line detection (PLD) is an important yet challenging problem in low-altitude flight. Different from the traditional PLD methods, which only aim at line information, we propose a novel object-aware PLD method to obtain better detection performance. A new definition of power line is first proposed to present its object-aware properties; and then a cascaded PLD scheme is devised with line detection, region filtration, and object validation based on corresponding image cues in joint color (RGB) and near-infrared (NIR) images. Considering that the primary goal of PLD is to capture all potential information and decrease the false negatives, we first treat the universal line shape in pixel from joint RGB-NIR images as a basic feature to explore general line candidates. To further pick out the accurate regions occupied by power lines, on the one hand we filter the false candidates based on the region-based intensity of special material characteristics in NIR, and on the other hand we validate the power lines according to the color features in RGB. The experiments demonstrate the advantages of our proposed method in three aspects: good detection accuracy, high true detection rate, and low false detection rate. [ABSTRACT FROM AUTHOR]

The work presented here solves the multi-sensor centralized fusion problem in the linear Gaussian model without the measurement noise variance. We generalize the variational Bayesian approximation based adaptive Kalman filter (VB_AKF) from the single sensor filtering to a multi-sensor fusion system, and propose two new centralized fusion algorithms, i.e., VB_AKF-based augmented centralized fusion algorithm and VB_AKF-based sequential centralized fusion algorithm, to deal with the case that the measurement noise variance is unknown. The simulation results show the effectiveness of the proposed algorithms. [ABSTRACT FROM AUTHOR]