Motion deblurring for a power transmission line inspection robot

Inspection robot must detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. In ideal cases, robot's vision system can give satisfactory results, however, motion blur due to camera motion caused by wind or other unknown causes can significantly degrade the quality of the image acquired. It is an undesired effect. In this paper, a complete motion deblurring procedure for obstacle images has been proposed, we try to analyze the running environment of the robot to develop the model of the motion blur. The acquired motion blur information is used to identify the point spread function (PSF) as well as restore the blurred image at the same time. Experiments on real blurred images on power transmission line prove the feasibility and reliability of this algorithm.