Auto-UIT: Automating UAV Inspection Trajectory by Recognizing Pylon Structure from 3D Point Cloud

UAV-assisted inspection is critical for modern power grid maintenance, enhancing efficiency and safety in remote areas. However, automatically designing UAV inspection trajectories is challenging due to the cluttered inspection environments, small inspection targets, and pervasive obstacles. We propose Auto-UIT, a novel method for generating inspection trajectories in noisy, sparse, and complex 3D point cloud. Auto-UIT has three core techniques: (1) A local structure-enhanced pylon segmentation, which accurately segments pylons, power lines, and surroundings in noisy point cloud for effective inspection target identification and trajectory planning. (2) A 3D fingerprint-based pylon type recognition that compensates for point cloud sparsity to complete missing inspection targets based on the pylon type. (3) An adaptive trajectory generation that samples positions in response to diverse pylon orientations and pervasive environmental obstacles, ensuring UAV operational safety. Our experiments on a real-world dataset across four distinct areas demonstrate that Auto-UIT outperforms existing baseline methods in all three tasks. Furthermore, a four-month deployment in a power grid inspection system—covering a 270 km2 primary mountainous area—yielded an expert first-review acceptance rate of 91.86% for the generated trajectories, and reduced design time by an average of 88.19% compared to manual methods, significantly improving inspection efficiency.