Automatic Tracking Tunnel Cables Using Egomotion Estimation

We proposed an online method of tracking the tunnel cable based on egomotion estimation. The method is firstly applied key point detection algorithm to extract feature points, and then the points are matched to estimate the matrix of egomotion representing the camera movement. Finally, we use the matrix to locate a mask around the cable in each frames captured inside the power line tunnel. The experimental results show robustness and efficiency of our method.