Overhead powerline detection

A method for detecting an overhead powerline by a system comprising a first sensor, a second sensor and a controller including one or more processors, wherein the method comprises:

• detecting, by a first sensor, a field generated by the overhead powerline;
• detecting, by a second sensor, the overhead powerline, and a relative position, including a distance, between the overhead powerline and the second sensor, wherein the second sensor comprises a camera sensor configured to capture visual data of one or more objects in a surrounding environment;
• receiving, by a controller including one or more processors, first sensing data from the first sensor and second sensing data from the second sensor;
• determining the one or more objects in the surrounding environment including the overhead powerline based on the visual data;
• estimating, by the controller, a live voltage value of the overhead powerline using the first sensing data and the second sensing data;
• determining, by the controller, one or more threshold safety distances based on the live voltage value;
• and
• determining, by the controller, the distance of the overhead powerline to the system based on the second sensor data,
• in response to the determined distance is within, or approaches, the one or more threshold safety distances, generate a warning signal.