Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM

HE Longqing; LI Xiaoyong; SHI Xin; JIANG Han; LI Yuqiang; WANG Yongjun; WANG Kai

doi:10.3969/j.issn.2097-0706.2026.02.005

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Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM

Maintanence and Inspection based on AI | 更新时间：2026-03-09

- Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM
- “Experts propose an enhanced positioning and map construction architecture that integrates improved CA-YOLOv5 object detection to address the issue of decreased accuracy in intelligent inspection robot positioning and mapping under complex dynamic working conditions in substations. This provides an effective solution to address dynamic interference problems.”
- BLASTING Vol. 48, Issue 2, Pages: 47-58(2026)
- 作者机构：
  
  1.青岛大学电气工程学院，山东青岛 266071
  2.山东广域科技有限责任公司，山东东营 257029
  3.国家电投东北电力有限公司抚顺热电分公司，辽宁抚顺 113010
  4.青岛海尔智能技术研发有限公司，山东青岛 266101
- 作者简介：
- 基金信息：
  
  Funds for Local Science and Technology Development Projects(YDZX2024060┫Central Guidance)
- DOI：10.3969/j.issn.2097-0706.2026.02.005
  CLC：
- Received：15 September 2025，
  
  Revised：2025-11-30，
  
  Online First：23 December 2025，
  
  Published：25 February 2026
- 稿件说明：
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何龙庆,李小勇,石鑫等.基于YOLOv5与ORB-SLAM融合的变电站动态场景特征点筛选算法改进[J].综合智慧能源,2026,48(02):47-58.

HE Longqing,LI Xiaoyong,SHI Xin,et al.Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM[J].BLASTING,2026,48(02):47-58.
何龙庆,李小勇,石鑫等.基于YOLOv5与ORB-SLAM融合的变电站动态场景特征点筛选算法改进[J].综合智慧能源,2026,48(02):47-58. DOI： 10.3969/j.issn.2097-0706.2026.02.005.

HE Longqing,LI Xiaoyong,SHI Xin,et al.Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM[J].BLASTING,2026,48(02):47-58. DOI： 10.3969/j.issn.2097-0706.2026.02.005.

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Improvement of feature point filtering algorithm for dynamic scenarios in substations based on fusion of YOLOv5 and ORB-SLAM

DOI：10.3969/j.issn.2097-0706.2026.02.005