Real-time Power Line Safety Distance Detection System Based on LOAM Slam

Power line safety distance detection is one of the most important task of power line inspection. The more advanced solution is to use a aircraft equipped with a lidar for detection. The biggest drawback of this solution is the high price and poor real-time performance. How to improve the real-time performance of the system and reduce the cost of equipment is the key issue. In order to deal with the problem, we propose an improved scheme, which uses LOAM algorithm to realize the simultaneous location and mapping, saving the use of the expensive GPS/IMU system. Besides we propose a cloud classification, a power line fitting and a safety distance detection method. Our solution could not only achieve the power line safety distance detection functions, but also reduce the cost.