Power line inspection is one important task performed by electricity distribution network operators worldwide. It is part of the equipment maintenance for such companies and forms a crucial procedure since it can provide diagnostics and prognostics about the condition of the power line network. Furthermore, it helps with effective decision making in the case of fault detection. Nowadays, the inspection of power lines is performed either using human operators that scan the network on foot and search for obvious faults, or using unmanned aerial vehicles (UAVs) and/or helicopters equipped with camera sensors capable of recording videos of the power line network equipment, which are then inspected by human operators offline. In this study, we propose an autonomous, intelligent inspection system for power lines, which is equipped with camera sensors operating in the visual (Red-Green-Blue (RGB) imaging) and infrared (thermal imaging) spectrums, capable of providing real-time alerts about the condition of power lines. The very first step in power line monitoring is identifying and segmenting them from the background, which constitutes the principal goal of the presented study. The identification of power lines is accomplished through an innovative hybrid approach that combines RGB and thermal data-processing methods under a custom-made drone platform, providing an automated tool for in situ analyses not only in offline mode. In this direction, the human operator role is limited to the flight-planning and control operations of the UAV. The benefits of using such an intelligent UAV system are many, mostly related to the timely and accurate detection of possible faults, along with the side benefits of personnel safety and reduced operational costs.
Keywords: RGB-thermal semantic segmentation; UAVs remote sensing; deep neural networks (DNNs); power line inspection.