2D segmentation-driven 3D power facility reconstruction method
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1.School of International Joint Institute, Tianjin University, Tianjin 300072, China; 2.China Electric Power Research Institute, Beijing 100192,China;3.School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China; 4.School of Mechanical Engineering, Zhejiang University, Hangzhou 310030, China; 5.State Grid Ruijia (Tianjin) Intelligent Robot Co., Ltd., Tianjin 300480, China

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TP391.41;TM76

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    Abstract:

    Three-dimensional segmentation decomposes complex power environments into semantic and instance-level regions, enabling precise spatial awareness for power robots in automated and safer live-line operations. However, existing methods face high 3D data acquisition costs and limited real-time processing, hindering practical deployment. To address these challenges, we introduce the first low-cost, rapid 3D segmentation framework using only multi-view monocular images and text prompts, without requiring 3D sensors. Specifically, we leverage Grounded-SAM2’s robust generalization and a custom color-annotation scheme to produce RGB segmentation masks for each view. These masks are then fed into the Spann3r reconstruction model, fusing geometry and color to reconstruct a dense scene point cloud. Candidate point sets corresponding to power equipment are extracted via color filtering, and a density-constrained DBSCAN clustering step separates individual instances while suppressing noise. Experimental validation in real-world power scenarios shows that, using only monocular RGB imagery, our method achieves over 92.6% mean intersection over union (mIoU) and over 93.4% mean accuracy (mAcc) for 3D segmentation. It offers the low-cost, and fast solution for the intelligent operation and maintenance of power robots without 3D sensor support.

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  • Received:
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  • Online: May 22,2026
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