{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T06:47:16Z","timestamp":1768632436122,"version":"3.49.0"},"reference-count":61,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,4,1]],"date-time":"2019-04-01T00:00:00Z","timestamp":1554076800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,4]]},"DOI":"10.1109\/icarsc.2019.8733646","type":"proceedings-article","created":{"date-parts":[[2019,6,10]],"date-time":"2019-06-10T22:03:33Z","timestamp":1560204213000},"page":"1-8","source":"Crossref","is-referenced-by-count":14,"title":["Real- Time LiDAR-based Power Lines Detection for Unmanned Aerial Vehicles"],"prefix":"10.1109","author":[{"given":"F.","family":"Azevedo","sequence":"first","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"A.","family":"Dias","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"J.","family":"Almeida","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"A.","family":"Oliveira","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"A.","family":"Ferreira","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"T.","family":"Santos","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"A.","family":"Martins","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]},{"given":"E.","family":"Silva","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, ISEP - School of Engineering, Porto, Portugal"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1145\/2783449.2783504"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.04.007"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548059"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2006.II.021"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354493"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152498"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2012.6462925"},{"key":"ref36","article-title":"On Real-Time LIDAR Data Segmentation and Classification","author":"korchev","year":"2013","journal-title":"IPCV'13 The 2013 International Conference on Image Processing Computer Vision and Pattern Recognition"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979818"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9034-y"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.3390\/rs8010036"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2017.01.013"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651109"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164280"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543832"},{"key":"ref2","first-page":"21","author":"vergouw","year":"2016","journal-title":"Drone Technology Types Payloads Applications Frequency Spectrum Issues and Future Developments"},{"key":"ref1","article-title":"Recent Developments in Aerial Robotics: {A} Survey and Prototypes Overview","volume":"abs 1711 10085","author":"liew","year":"2017","journal-title":"CoRR"},{"key":"ref20","author":"geibel","year":"2001","journal-title":"Segmentation of Laser Altimeter Data for Building Reconstruction Different Procedures and Comparison"},{"key":"ref22","first-page":"312","article-title":"Model independent object extraction from digital surface models","volume":"33","author":"gamba","year":"2000","journal-title":"International Archives of Photogrammetry and Remote Sensing"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-2716(99)00008-8"},{"key":"ref24","first-page":"1421","article-title":"Automatic 3D feature extraction from structuralized LIDAR data","volume":"3","author":"wang","year":"2005","journal-title":"Asian Association on Remote Sensing — 26th Asian Conference on Remote Sensing and 2nd Asian Space Conference ACRS 2005"},{"key":"ref23","first-page":"1","volume":"2","author":"wang","year":"2004","journal-title":"Lidar data segmentation and classification based on octree structure"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621281"},{"key":"ref25","first-page":"217","volume":"2051","author":"shan","year":"2005","journal-title":"Urban DEM Generation from Raw Lidar Data A Labeling Algorithm and its Performance"},{"key":"ref50","first-page":"191","article-title":"Classification of trees and powerlines from medium resolution airborne laserscanner data in urban environments","author":"clode","year":"2005","journal-title":"Proc APRS Workshop on Digital Image Computing"},{"key":"ref51","author":"vale","year":"2006","journal-title":"Detection and Classification of Clearance Anomalies on Over-Head Power Lines"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/DICTA.2017.8227407"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1080\/01431161.2015.1125549"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.3390\/rs6043302"},{"key":"ref56","author":"xiang","year":"2014","journal-title":"3D Reconstruction of 138 KV Power-lines from Airborne LiDAR Data"},{"key":"ref55","first-page":"105","article-title":"Automatic 3D Powerline Reconstruction Using Airborne Lidar Data","volume":"xxxviii","author":"jwa","year":"2009","journal-title":"International Archives of Photogrammetry and Remote Sensing"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LGRS.2005.863390"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ISIDF.2011.6024293"},{"key":"ref52","author":"vale","year":"2007","journal-title":"LIDAR data segmentation for track clearance anomaly detection on over-head power lines"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1080\/17686733.2016.1145844"},{"key":"ref11","first-page":"6205","author":"gregory","year":"2006","journal-title":"Advances in applications for aerial infrared thermography"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989591"},{"key":"ref12","first-page":"1147","article-title":"UAV Based Laser Measurement for Vegetation Control at High-Voltage Transmission Lines","volume":"614","author":"ax","year":"2013","journal-title":"Advances in Power and Electrical Engineering Advanced Materials Research"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2017.7964084"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1049\/ic:20050472"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2017.8098719"},{"key":"ref16","author":"mcgill","year":"2002","journal-title":"Lidar Remote Sensing"},{"key":"ref17","author":"allen","year":"2017","journal-title":"Knowing Earth"},{"key":"ref18","author":"abshire","year":"2001","journal-title":"Space Lidar and Applications"},{"key":"ref19","first-page":"556","article-title":"Three-dimensional city modeling from laser scanner data by extracting building polygons using region segmentation method","volume":"33","author":"masaharu","year":"2000","journal-title":"International Archives of Photogrammetry and Remote Sensing"},{"key":"ref4","first-page":"137","article-title":"Lidar applications in the electrical power industry","volume":"36","author":"xu","year":"2008","journal-title":"Int Arch Photogramm Remote Sens Spat Inf Sci"},{"key":"ref3","volume":"7","author":"pedrosa","year":"2018","journal-title":"Control-law for oil spill mitigation with a team of heterogeneous autonomous vehicles"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2013.09.041"},{"key":"ref5","article-title":"Laserkeilauksen soveltaminen sahkoverkon kunnossapi-dossa; Laser scanning in electricity network maintenance","author":"pulkkinen","year":"2015","journal-title":"G2 Pro gradu diplomity"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.3390\/rs10040613"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2016.04.011"},{"key":"ref49","author":"hartley","year":"2000","journal-title":"Multiple View Geometry in Computer Vision"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.isprsjprs.2006.03.004"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/61.997953"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/s10044-014-0391-9"},{"key":"ref48","author":"hough","year":"1962","journal-title":"Method and means for recognizing complex patterns"},{"key":"ref47","author":"melzer","year":"2004","journal-title":"Extraction and Modeling of Power Lines from ALS Point Clouds"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2015.20"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650459"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1016\/j.epsr.2012.07.015"},{"key":"ref43","first-page":"21","article-title":"Understanding LiDAR data-How utilities can get maximum benefits from 3D modeling","author":"chaput","year":"2008","journal-title":"Proc Int LiDAR Mapping Forum"}],"event":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","location":"Porto, Portugal","start":{"date-parts":[[2019,4,24]]},"end":{"date-parts":[[2019,4,26]]}},"container-title":["2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8726225\/8733605\/08733646.pdf?arnumber=8733646","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T20:48:39Z","timestamp":1768596519000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8733646\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4]]},"references-count":61,"URL":"https:\/\/doi.org\/10.1109\/icarsc.2019.8733646","relation":{},"subject":[],"published":{"date-parts":[[2019,4]]}}}