arXiv：cs.AI· Lachlan Tychsen-Smith, Mark Cox, Brett Wood, David Haddon, Kenrick Anderson, Benjamin Duck, Jim O'Malley, Noel W Duffy, Peyman Moghadam·· 9 小时前
Tricorder：面向公用事业规模光伏电站的自主3D视觉-热成像巡检系统
Autonomous 3D Visual-Thermal Inspection for Utility-Scale Solar Farms
AI 导读
研究团队提出自动化3D视觉-热成像巡检系统Tricorder，用于光伏面板下方的资产巡检，结合LiDAR-惯性SLAM与几何标定的RGB和热成像，以及基于机器学习的物体检测与分割。系统将检测到的资产关联至重建的3D环境，实现多视角视觉与热成像观测的空间融合与定位，并在公用事业规模光伏数据上验证了MC4连接器检测、连接状态识别、热异常识别及螺栓、螺母、扭矩管等结构件检测。
正文
Abstract:Utility-scale photovoltaic (PV) inspection is dominated by aerial surveys, which are effective for identifying module-level hot cells but provide limited visibility of critical components located under the array, including connectors, cabling, fasteners and structural elements. These assets are difficult to inspect consistently at scale, and their defects are often spatially small, partially occluded and difficult to localise from isolated images. We present an automated 3D visual-thermal inspection system (Tricorder) for under-panel PV asset inspection. The approach combines LiDAR-inertial Simultaneous Localization and Mapping (SLAM) with geometrically calibrated RGB and thermal imagery and machine-learning-based object detection and segmentation. Detected assets are associated with the reconstructed 3D environment, allowing visual and thermal observations from multiple viewpoints to be spatially fused and localised. We demonstrate the approach on utility-scale PV data for MC4 connector detection and connection-state recognition, thermal anomaly identification, and detection of structural components including bolts, nuts and torque tubes. The results demonstrate a pathway from image-based inspection toward spatially grounded autonomous inspection, where defects are detected and linked to specific assets and their 3D locations within the solar farm.
| Comments: | Accepted at the 2026 Asia-Pacific Solar Research Conference (APSRC 2026), Canberra, Australia, 1-3 December 2026 |
| Subjects: | Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO) |
| Cite as: | arXiv:2610.17762 [cs.AI] |
| (or arXiv:2610.17762v1 [cs.AI] for this version) | |
| https://doi.org/10.48550/arXiv.2610.17762 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Peyman Moghadam [view email]
[v1]
Tue, 13 Oct 2026 05:43:11 UTC (11,057 KB)
来源：arXiv：cs.AI · arxiv.org