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Inspection images of power transmission line provide vision interaction for the operator and the environmental perception for the cable inspection robot (CIR). However, inspection images are always contaminated by severe outdoor working conditions such as uneven illumination, low contrast, and speckle noise. Therefore, this paper proposes a novel method based on Retinex and fuzzy enhancement to improve the image quality of the inspection images. A modified multi-scale Retinex (MSR) is proposed to compensate the uneven illumination by processing the low frequency components after wavelet decomposition. Besides, a fuzzy enhancement method is proposed to perfect the edge information and improve contrast by processing the high frequency components. A noise reduction procedure based on soft threshold is used to avoid the noise amplification. Experiments on the self-built standard test dataset show that the algorithm can improve the image quality by 3–4 times. Compared with several other methods, the experimental results demonstrate that the proposed method can obtain better enhancement performance with more homogeneous illumination and higher contrast. Further research will focus on improving the real-time performance and parameter adaptation of the algorithm.

Image Enhancement for Inspection of Cable Images Based on Retinex Theory and Fuzzy Enhancement Method in Wavelet Domain