Abstract
This paper describes a trinocular vision system to detect heavy machineries such as mobile cranes approaching power transmission lines for avoiding contact accidents. Because the monitoring area is large, a passive measuring method is desirable. We have developped trinocular vision to acquire range data more reliably than conventional binocular vision. In order to find the correspondence of features in three images, we use a disparity histogram for matching candidates in a local area. By this way, the disparities of horizontal or vertical edges can be determined as well as reliable correspondence is obtained. We apply this trinocular vision to the monitoring system which is attached to a tower for power transmission lines. The system monitors a prespecified space to detect objects approaching power transmission lines. Experiments were carried out for real situations and proved the system is satisfactory.
