{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T18:56:12Z","timestamp":1785956172378,"version":"3.56.0"},"publisher-location":"New York, NY, USA","reference-count":42,"publisher":"ACM","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,11,3]]},"DOI":"10.1145\/3680207.3765244","type":"proceedings-article","created":{"date-parts":[[2025,11,21]],"date-time":"2025-11-21T13:19:18Z","timestamp":1763731158000},"page":"758-772","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Auto-UIT: Automating UAV Inspection Trajectory by Recognizing Pylon Structure from 3D Point Cloud"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2990-5415","authenticated-orcid":false,"given":"Feng","family":"Lyu","sequence":"first","affiliation":[{"name":"Central South University, Changsha, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-9048-973X","authenticated-orcid":false,"given":"Lijuan","family":"He","sequence":"additional","affiliation":[{"name":"Central South University, Changsha, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4101-3938","authenticated-orcid":false,"given":"Mingliu","family":"Liu","sequence":"additional","affiliation":[{"name":"The State Grid Hubei Electric Power Research Institute, Wuhan, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3295-8822","authenticated-orcid":false,"given":"Sijing","family":"Duan","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0980-9805","authenticated-orcid":false,"given":"Hao","family":"Wu","sequence":"additional","affiliation":[{"name":"Nanjing University, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-5712-510X","authenticated-orcid":false,"given":"Jieyu","family":"Zhou","sequence":"additional","affiliation":[{"name":"Central South University, Changsha, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1226-341X","authenticated-orcid":false,"given":"Yi","family":"Ding","sequence":"additional","affiliation":[{"name":"University of Texas at Dallas, Dallas, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-7692-3978","authenticated-orcid":false,"given":"Zaixun","family":"Ling","sequence":"additional","affiliation":[{"name":"The State Grid Hubei Electric Power Research Institute, Wuhan, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-6907-0736","authenticated-orcid":false,"given":"Yibo","family":"Cui","sequence":"additional","affiliation":[{"name":"The State Grid Hubei Electric Power Research Institute, Wuhan, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2025,11,21]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies","author":"Ahmad Fawad","year":"2023","unstructured":"Fawad Ahmad, Christina Suyong Shin, Rajrup Ghosh, John D'Ambrosio, Eugene Chai, Karthikeyan Sundaresan, and Ramesh Govindan. 2023. AeroTraj: Trajectory Planning for Fast, and Accurate 3D Reconstruction Using a Drone-based LiDAR. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies (2023)."},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/21.148404"},{"key":"e_1_3_2_1_3_1","volume-title":"Segmentation of drone collision hazards in airborne RADAR point clouds using PointNet","author":"Arroyo Hector","year":"2024","unstructured":"Hector Arroyo, Paul Keir, Dylan Angus, Santiago Matalonga, Svetlozar Georgiev, Mehdi Goli, Gerard Dooly, and James Riordan. 2024. Segmentation of drone collision hazards in airborne RADAR point clouds using PointNet. IEEE Transactions on Intelligent Transportation Systems (2024)."},{"key":"e_1_3_2_1_4_1","volume-title":"Lidar-based real-time detection and modeling of power lines for unmanned aerial vehicles. Sensors","author":"Azevedo F\u00e1bio","year":"2019","unstructured":"F\u00e1bio Azevedo, Andr\u00e9 Dias, Jos\u00e9 Almeida, Alexandre Oliveira, Andr\u00e9 Ferreira, Tiago Santos, Alfredo Martins, and Eduardo Silva. 2019. Lidar-based real-time detection and modeling of power lines for unmanned aerial vehicles. Sensors (2019)."},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2018.8664716"},{"key":"e_1_3_2_1_6_1","volume-title":"2022 International Conference on Unmanned Aircraft Systems.","author":"Calvo Alvaro","year":"2022","unstructured":"Alvaro Calvo, Giuseppe Silano, and Jes\u00fas Capit\u00e1n. 2022. Mission planning and execution in heterogeneous teams of aerial robots supporting power line inspection operations. In 2022 International Conference on Unmanned Aircraft Systems."},{"key":"e_1_3_2_1_7_1","volume-title":"Real-time identification and avoidance of simultaneous static and dynamic obstacles on point cloud for UAVs navigation. Robotics and Autonomous Systems","author":"Chen Han","year":"2022","unstructured":"Han Chen and Peng Lu. 2022. Real-time identification and avoidance of simultaneous static and dynamic obstacles on point cloud for UAVs navigation. Robotics and Autonomous Systems (2022)."},{"key":"e_1_3_2_1_8_1","volume-title":"UAV-Assisted Fault Location in Power Distribution Systems: An Optimization Approach","author":"Derakhshandeh Sayed Yaser","year":"2019","unstructured":"Sayed Yaser Derakhshandeh, Zahra Mobini, Mohammadali Mohammadi, and Mojtaba Nikbakht. 2019. UAV-Assisted Fault Location in Power Distribution Systems: An Optimization Approach. IEEE Transactions on Smart Grid (2019)."},{"key":"e_1_3_2_1_9_1","volume-title":"International Journal of Electrical Power & Energy Systems","author":"Guan Hongcan","year":"2021","unstructured":"Hongcan Guan, Xiliang Sun, Yanjun Su, Tianyu Hu, Haitao Wang, Heping Wang, Chigang Peng, and Qinghua Guo. 2021. UAV-lidar aids automatic intelligent powerline inspection. International Journal of Electrical Power & Energy Systems (2021)."},{"key":"e_1_3_2_1_10_1","volume-title":"European Conference on Computer Vision.","author":"He Shuting","year":"2024","unstructured":"Shuting He, Henghui Ding, Xudong Jiang, and Bihan Wen. 2024. Segpoint: Segment any point cloud via large language model. In European Conference on Computer Vision."},{"key":"e_1_3_2_1_11_1","volume-title":"UAV based sensing and imaging technologies for power system detection, monitoring and inspection: a review. Nondestructive Testing and Evaluation","author":"He Yunze","year":"2024","unstructured":"Yunze He, Zhaoyan Liu, Yike Guo, Qijia Zhu, Yu Fang, Yong Yin, Yang Wang, Bei Zhang, and Zhaohua Liu. 2024. UAV based sensing and imaging technologies for power system detection, monitoring and inspection: a review. Nondestructive Testing and Evaluation (2024)."},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSG.2020.2970156"},{"key":"e_1_3_2_1_13_1","volume-title":"2007 IEEE international conference on systems, man and cybernetics.","author":"Kanehara Masatomo","year":"2007","unstructured":"Masatomo Kanehara, Satoshi Kagami, James J Kuffner, Simon Thompson, and Hiroshi Mizoguhi. 2007. Path shortening and smoothing of grid-based path planning with consideration of obstacles. In 2007 IEEE international conference on systems, man and cybernetics."},{"key":"e_1_3_2_1_14_1","volume-title":"Sampling-based algorithms for optimal motion planning. The international journal of robotics research","author":"Karaman Sertac","year":"2011","unstructured":"Sertac Karaman and Emilio Frazzoli. 2011. Sampling-based algorithms for optimal motion planning. The international journal of robotics research (2011)."},{"key":"e_1_3_2_1_15_1","volume-title":"Real-time obstacle avoidance for manipulators and mobile robots. The international journal of robotics research","author":"Khatib Oussama","year":"1986","unstructured":"Oussama Khatib. 1986. Real-time obstacle avoidance for manipulators and mobile robots. The international journal of robotics research (1986)."},{"key":"e_1_3_2_1_16_1","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition.","author":"Kolodiazhnyi Maxim","year":"2024","unstructured":"Maxim Kolodiazhnyi, Anna Vorontsova, Anton Konushin, and Danila Rukhovich. 2024. Oneformer3d: One transformer for unified point cloud segmentation. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition."},{"key":"e_1_3_2_1_17_1","volume-title":"2018 2nd IEEE Conference on Energy Internet and Energy System Integration.","author":"Li Jianchao","year":"2018","unstructured":"Jianchao Li, Liming Wang, and Xinwei Shen. 2018. Unmanned aerial vehicle intelligent patrol-inspection system applied to transmission grid. In 2018 2nd IEEE Conference on Energy Internet and Energy System Integration."},{"key":"e_1_3_2_1_18_1","volume-title":"Multi-mechanism swarm optimization for multi-UAV task assignment and path planning in transmission line inspection under multi-wind field. Applied Soft Computing","author":"Li Kun","year":"2024","unstructured":"Kun Li, Xinxin Yan, and Ying Han. 2024. Multi-mechanism swarm optimization for multi-UAV task assignment and path planning in transmission line inspection under multi-wind field. Applied Soft Computing (2024)."},{"key":"e_1_3_2_1_19_1","volume-title":"Pointcnn: Convolution on x-transformed points. Advances in neural information processing systems","author":"Li Yangyan","year":"2018","unstructured":"Yangyan Li, Rui Bu, Mingchao Sun, Wei Wu, Xinhan Di, and Baoquan Chen. 2018. Pointcnn: Convolution on x-transformed points. Advances in neural information processing systems (2018)."},{"key":"e_1_3_2_1_20_1","volume-title":"Design and application of a UAV autonomous inspection system for high-voltage power transmission lines. Remote Sensing","author":"Li Ziran","year":"2023","unstructured":"Ziran Li, Yanwen Zhang, Hao Wu, Satoshi Suzuki, Akio Namiki, and Wei Wang. 2023. Design and application of a UAV autonomous inspection system for high-voltage power transmission lines. Remote Sensing (2023)."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3636534.3698220"},{"key":"e_1_3_2_1_22_1","volume-title":"Power tower inspection simultaneous localization and mapping: A monocular semantic positioning approach for uav transmission tower inspection. Sensors","author":"Liu Zhiying","year":"2022","unstructured":"Zhiying Liu, Xiren Miao, Zhiqiang Xie, Hao Jiang, and Jing Chen. 2022. Power tower inspection simultaneous localization and mapping: A monocular semantic positioning approach for uav transmission tower inspection. Sensors (2022)."},{"key":"e_1_3_2_1_23_1","volume-title":"Power line inspection via an unmanned aerial system based on the quadrotor helicopter. In 2014-2014 17th IEEE Mediterranean electrotechnical conference","author":"Luque-Vega Luis F","unstructured":"Luis F Luque-Vega, Bernardino Castillo-Toledo, Alexander Loukianov, and Luis Enrique Gonzalez-Jimenez. 2014. Power line inspection via an unmanned aerial system based on the quadrotor helicopter. In 2014-2014 17th IEEE Mediterranean electrotechnical conference."},{"key":"e_1_3_2_1_24_1","volume-title":"Yen Lam Hoang Nguyen, and Lam Thu Bui.","author":"Phan Anh Viet","year":"2018","unstructured":"Anh Viet Phan, Minh Le Nguyen, Yen Lam Hoang Nguyen, and Lam Thu Bui. 2018. Dgcnn: A convolutional neural network over large-scale labeled graphs. Neural Networks (2018)."},{"key":"e_1_3_2_1_25_1","volume-title":"2017 European Conference on Mobile Robots.","author":"Potena Ciro","year":"2017","unstructured":"Ciro Potena, Daniele Nardi, and Alberto Pretto. 2017. Effective target aware visual navigation for uavs. In 2017 European Conference on Mobile Robots."},{"key":"e_1_3_2_1_26_1","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition.","author":"Qi Charles R","year":"2017","unstructured":"Charles R Qi, Hao Su, Kaichun Mo, and Leonidas J Guibas. 2017. Point-net: Deep learning on point sets for 3d classification and segmentation. In Proceedings of the IEEE conference on computer vision and pattern recognition."},{"key":"e_1_3_2_1_27_1","volume":"201","author":"Qi Charles Ruizhongtai","unstructured":"Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas. 2017. Pointnet++: Deep hierarchical feature learning on point sets in a metric space. Advances in neural information processing systems (2017).","journal-title":"Leonidas J Guibas."},{"key":"e_1_3_2_1_28_1","volume-title":"Semantic 3D object maps for everyday manipulation in human living environments. KI-K\u00fcnstliche Intelligenz","author":"Rusu Radu Bogdan","year":"2010","unstructured":"Radu Bogdan Rusu. 2010. Semantic 3D object maps for everyday manipulation in human living environments. KI-K\u00fcnstliche Intelligenz (2010)."},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.5555\/1703435.1703733"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/3636534.3649382"},{"key":"e_1_3_2_1_31_1","volume-title":"UPKD: Unsupervised pylon keypoint detection from 3D LiDAR data for autonomous UAV power inspection. International Journal of Applied Earth Observation and Geoinformation","author":"Wu Jiayu","year":"2024","unstructured":"Jiayu Wu, Chi Chen, Zhengfei Yan, Shaolong Wu, Zhiye Wang, Liuchun Li, Jing Fu, and Bisheng Yang. 2024. UPKD: Unsupervised pylon keypoint detection from 3D LiDAR data for autonomous UAV power inspection. International Journal of Applied Earth Observation and Geoinformation (2024)."},{"key":"e_1_3_2_1_32_1","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition.","author":"Wu Xiaoyang","year":"2024","unstructured":"Xiaoyang Wu, Li Jiang, Peng-Shuai Wang, Zhijian Liu, Xihui Liu, Yu Qiao, Wanli Ouyang, Tong He, and Hengshuang Zhao. 2024. Point Transformer V3: Simpler Faster Stronger. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3570361.3613292"},{"key":"e_1_3_2_1_34_1","volume-title":"FRNet: Frustum-range networks for scalable LiDAR segmentation. arXiv preprint arXiv:2312.04484","author":"Xu Xiang","year":"2023","unstructured":"Xiang Xu, Lingdong Kong, Hui Shuai, and Qingshan Liu. 2023. FRNet: Frustum-range networks for scalable LiDAR segmentation. arXiv preprint arXiv:2312.04484 (2023)."},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2020.3031194"},{"key":"e_1_3_2_1_36_1","volume-title":"A light defect detection algorithm of power insulators from aerial images for power inspection. Neural Computing and Applications","author":"Yang Lei","year":"2022","unstructured":"Lei Yang, Junfeng Fan, Shouan Song, and Yanhong Liu. 2022. A light defect detection algorithm of power insulators from aerial images for power inspection. Neural Computing and Applications (2022)."},{"key":"e_1_3_2_1_37_1","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition.","author":"Yoo Sunghwan","year":"2023","unstructured":"Sunghwan Yoo, Yeonjeong Jeong, Maryam Jameela, and Gunho Sohn. 2023. Human vision based 3d point cloud semantic segmentation of large-scale outdoor scenes. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition."},{"key":"e_1_3_2_1_38_1","volume-title":"A hybrid algorithm based on grey wolf optimizer and differential evolution for UAV path planning. Expert Systems with Applications","author":"Yu Xiaobing","year":"2023","unstructured":"Xiaobing Yu, Nijun Jiang, Xuming Wang, and Mingyuan Li. 2023. A hybrid algorithm based on grey wolf optimizer and differential evolution for UAV path planning. Expert Systems with Applications (2023)."},{"key":"e_1_3_2_1_39_1","volume-title":"Reinforcement learning-based multi-strategy cuckoo search algorithm for 3D UAV path planning. Expert Systems with Applications","author":"Yu Xiaobing","year":"2023","unstructured":"Xiaobing Yu and Wenguan Luo. 2023. Reinforcement learning-based multi-strategy cuckoo search algorithm for 3D UAV path planning. Expert Systems with Applications (2023)."},{"key":"e_1_3_2_1_40_1","volume-title":"Point could mamba: Point cloud learning via state space model. arXiv preprint arXiv:2403.00762","author":"Zhang Tao","year":"2024","unstructured":"Tao Zhang, Xiangtai Li, Haobo Yuan, Shunping Ji, and Shuicheng Yan. 2024. Point could mamba: Point cloud learning via state space model. arXiv preprint arXiv:2403.00762 (2024)."},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/3636534.3690699"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00472"}],"event":{"name":"ACM MOBICOM '25: 31st Annual International Conference on Mobile Computing and Networking","location":"Kerry Hotel, Hong Kong Hong Kong China","acronym":"ACM MOBICOM '25","sponsor":["SIGMOBILE ACM Special Interest Group on Mobility of Systems, Users, Data and Computing"]},"container-title":["Proceedings of the 31st Annual International Conference on Mobile Computing and Networking"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3680207.3765244","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,21]],"date-time":"2025-11-21T13:28:30Z","timestamp":1763731710000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3680207.3765244"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,3]]},"references-count":42,"alternative-id":["10.1145\/3680207.3765244","10.1145\/3680207"],"URL":"https:\/\/doi.org\/10.1145\/3680207.3765244","relation":{},"subject":[],"published":{"date-parts":[[2025,11,3]]},"assertion":[{"value":"2025-11-21","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}