基于运动恢复结构原理的电网设施三维静态重建方法
摘要：电网设备数字化是电网数字孪生的关键环节。传统依据设计资料和台账数据的手工建模方式工作效率低、与实际情况差异性大。为解决上述弊端，同时综合考虑部分电网设施弱纹理性、色彩单一的特点导致特征点难以提取的问题与三维重建的实时性、准确性要求，研究了一种面向数字孪生电网设施的三维静态模型重建方法。首先，以运动恢复结构为基础原理，对此原理中位姿估计、稠密点云的提取、表面重建等步骤进行完整的算法流程设计。其次，通过提高特征点匹配条件，以及五点法和随机抽样一致性算法的有效结合，改善相机位姿估计的准确度，第三，联合使用最小特征值算法和Kanade-Lucas-Tomasi(KLT)光流法，以提高稠密点云的选择数量，最终有效提升点云重建精度及视觉效果。最后，以组合式变电箱为例进行实验验证，实验结果及精度对比分析表明该方法能够快速、准确地构建可视化电网设施虚拟模型，为传统电网的数字化转型，数字孪生电网的实现提供有效支撑。
Abstract:The digitization of grid equipment is a key step of power grid digital twinning. The traditional manual modeling method based on design data and ledger data is inefficient and far from reality. To address the above drawbacks, a 3D static model reconstruction method for digital twin power grid facilities was studied, considering the difficulty in extracting feature points due to the weak texture and single color of some power grid facilities, as well as the real-time and accuracy demands of 3D reconstruction. Firstly, based on the Structure from motion (abbr. SFM), a complete algorithm flow design was carried out for the steps of pose estimation, dense point cloud extraction, and surface reconstruction in this principle. Secondly, the accuracy of camera pose estimation was improved by improving the matching conditions of feature points and combining the five-spot method with the random sample consensus algorithm. Thirdly, the minimum eigenvalue algorithm and the Kanade-Lucas-Tomasi(abbr. KLT) optical flow method were combined to increase the selection number of dense point clouds, and ultimately effectively improve the accuracy and visual effect of point cloud reconstruction. Finally, the combined transformer box was taken as an example for experimental verification. The experimental results and precision comparison analysis show that the proposed method can quickly and accurately construct grid facilities’ virtual model, which effectively supports the digital transformation of the traditional power grid and the implementation of a digital twin power grid.
标题：基于运动恢复结构原理的电网设施三维静态重建方法
英文标题：3D Static Reconstruction Method of Power Grid Facilities Based on Principle of Structure from Motion
作者：赵辉, 韩璟琳, 李光毅, 张菁, 胡平, 刘宇航,
关键词：数字孪生, 三维重建, 运动恢复结构, 加速稳健特征, 最小特征值算法,
发表日期：2024-12-10
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