Abstract: In order to avoid the accidents, such as mis-operation, strayed into the scene and so on, which are caused by the lack of on-site monitoring of substation, the scene reconstruction technology is usually adopted to monitor the object state in real time. The real-time model of substation equipment in the working state is analyzed, and a key frame automatic selection method of moving object is proposed. Firstly, the KLT algorithm with the pyramid structure is used to track feature points, then the change of the object attitude is calculated by the two-step decomposition method, and the real-time state of the object is predicted by the change of the object attitude in a short time. In order to evaluate the effectiveness of the proposed method, the relative error (RE), root mean square error (RMSE) and absolute trajectory error (ATE) of the proposed method are compared with the reference trajectory qualitatively and quantitatively. The experimental results show that the proposed algorithm reduces the data redundancy by about 40%-60%, and the real-time and robustness of the location and scene construction are improved effectively.

Key words: scene reconstruction, moving object, key frame, KLT algorithm, two-step decomposition algorithm