**1. Introduction**

There exist numerous applications for UAVs that include autonomous navigation, tracking and 3D reconstruction [1–3]. Electrical infrastructure inspection with aerial robots, especially transmission line inspection, is very important since it can minimize costs, risk and logistic problems that usually are associated with manual inspection [4]. In this context the use of new technologies for power line inspection such as UAVs can bring great benefits. The common methods for power line inspection are manual inspection, manned helicopters and UAVs as shown in **Figure 1**.

In the work presented in [5], three aspects have been shown: (1) strategies for risk administration in high power line corridors, (2) selection of suitable platforms for sensor location and (3) data processing techniques for identifying vegetation.

One of the principal problems to resolve in this field is the image distortion/ noise due to camera movement/vibration, which can be mitigated with the use of the gimbal stabilizers and a mechanical vibration isolator under the flight controller.

A path planning process for electrical infrastructure inspection requires to consider the detection of power lines and electrical towers because these elements can generate a corridor where an autonomous system can perform the inspection task [5].

**Figure 1.** *Example of different methods for power line inspection.*

An important aspect of autonomous navigation systems is the collision avoidance [6, 7]. In a path planning process for automatic inspection of electrical infrastructure, it is necessary to be able to avoid electrical towers and power lines. The first task for accomplishing this goal is an object detection process that will be discussed in this chapter.

The access throughout the corridor is very important since it is necessary in order to inspect the area surrounding power lines. It must be free of obstacles and vegetation.

As a part of the inspection process, an important task is the detection of elements of the electrical infrastructure; this is achieved by using computer vision techniques such as object detection. The common objects present in the electrical infrastructure scene are the power lines and electrical towers. An additional task is the 3D reconstruction of the elements of the scene by using the captured images.
