Application of End-to-End Perception Framework Based on Boosted DETR in UAV Inspection of Overhead Transmission Lines

As crucial predecessor tasks for fault detection and transmission line inspection, insulators, anti-vibration hammers, and arc sag detection are critical jobs. Due to the complexity of the high-voltage transmission line environment and other factors, target detection work on transmission lines remains challenging. A method for high-voltage transmission line inspection based on DETR (TLI-DETR) is proposed to detect insulators, anti-vibration hammers, and arc sag. This model achieves a better balance in terms of speed and accuracy than previous methods. Due to environmental interference such as mountainous forests, rivers, and lakes, this paper uses the Improved Multi-Scale Retinex with Color Restoration (IMSRCR) algorithm to make edge extraction more robust with less noise interference. Based on the TLI-DETR's feature extraction network, we introduce the edge and semantic information by Momentum Comparison (MoCo) to boost the model's feature extraction ability for small targets. The different shooting angles and distances of drones result in the target images taking up small proportions and impeding each other. Consequently, the statistical profiling of the area and aspect ratio of transmission line targets captured by UAV generate target query vectors with prior information to enable the model to adapt to the detection needs of transmission line targets more accurately and effectively improve the detection accuracy of small targets. The experimental results show that this method has excellent performance in high-voltage transmission line detection, achieving up to 91.65% accuracy and a 55FPS detection speed, which provides a technical basis for the online detection of transmission line targets.