Real-time 3D Reconstruction of Aerial Transmission Lines

High-precision 3D real-time reconstruction system can complete the reconstruction of small-scale space, but it cannot meet the 3D real-time reconstruction of outdoor large-scale environment. The operating environment of high-altitude operation transmission lines is relatively harsh, and when carrying on the operation robot that replaces maintenance personnel, it is necessary to establish a system that can meet the outdoor large-scale 3D real-time reconstruction, and the reconstruction accuracy should be able to meet the conditions of use. Therefore, we propose a large-scale 3D real-time reconstruction system based on RGB-D sensor and IMU information fusion, using ORBSLAM algorithm to reconstruct the dense map by feature matching of the point cloud observed by the depth camera, and then using OctoMap to convert it into a real-time octree map, and using incremental storage to synthesize a large-scale 3D map.