【摘要】 为提高带电作业机器人作业的精准性与稳定性，设计面向带电作业遥操作机器人的三维重建系统。提出一种优化的ROSA(Rotational Symmetry Axis)方法提取高压线模型的一维骨架，以及投影映射方法估计高压线截面半径；基于加权法线，提出最小二乘抛物线参数拟合方法拟合高压线的空间参数方程，以修正和优化骨架。实验结果表明，优化后ROSA算法在噪声和点云缺失下实时性、准确度优于其他传统提取算法，且曲线拟合方法适用不同曲率的曲线，符合机器人作业的要求。更多还原

【Abstract】 To improve the precision and stability of live-line working robot, a 3D reconstruction system is designed for live-line working teleoperation robot. A skeletonization method based on ROSA method optimization was proposed to shrink line model into one-dimension skeleton shape, and a projection mapping method was used to estimate the sectional radius of high-voltage line. Based on weighted normal, a least squares parabola parameter fitting for high-voltage line space parameter equation was advanced to correct and optimize the extracted 1D skeleton. Experiment results show that the skeletonization method based on ROSA method optimization has higher accuracy and real-time and more robustness than tradition methods, and curve fitting method can apply to curves with diverse curvature and the reconstruction system meets the requirements of robot.更多还原