Automated and accurate bridge deck crack inspection and mapping.
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2012-10-01
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Abstract:One of the important tasks for bridge maintenance is bridge deck crack inspection. Traditionally, a human inspector detects cracks using his/her eyes and finds the location of cracks manually. Thus the accuracy of the inspection result is low due to the subjective nature of human cognition. We propose a system that uses a mobile robot to conduct the crack inspection, where the robot collects bridge deck images with a video camera. In this method, the Laplacian of Gaussian algorithm is used to detect cracks and the global crack map is obtained through camera calibration and robot localization. To ensure that the robot collects all the images on the bridge deck, we develop a complete coverage path planning algorithm for the mobile robot. We compare it with other path planning strategies. Finally, we validate our proposed crack inspection system through both indoor and outdoor experiments. The proposed research can significantly improve the accuracy of bridge deck inspection in an efficient way. Timely awareness of bridge structural health can make our transportation system much safer while man power will be significantly saved.
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