In this paper, a new algorithm is proposed to automatically detect icing and estimate ice thickness of the transmission lines. Firstly, we propose an ice-prior-based scheme to improve the edge detection accuracy such that the outlines of transmission lines and the icing over the lines can be effectively achieved. Then, a new calibration method is proposed which can perform precise calibration by a single image template. This simple setting can greatly ease the calibration process for icing detection. Furthermore, considering the line drifts when covered by thick ice, another scheme is also proposed to automatically track the region of the transmission lines in the image and to revise the thickness estimation accordingly. Experimental results demonstrate that the proposed algorithm methods can work efficiently on different outdoor icing situations.
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