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This paper approaches the problem of recognizing and localizing insulators with curved smooth and weak textured surfaces in a cluttered scene for the 220kv/330kv high-voltage live-line cleaning robot (HLCR). In this work we introduce SUSAN edge-based scale invariant feature (SESIF) to describe insulators, which is robust to noise, cluttered scene, changes on viewpoint and illumination. A coarse-to-fine...
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