TY - GEN
T1 - Bridge inspection with aerial robots and computer vision
T2 - 37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020
AU - Lin, Jacob J.
AU - Ibrahim, Amir
AU - Sarwade, Shubham
AU - Golparvar-Fard, Mani
AU - Nitta, Yasushi
AU - Moirkawa, Hirokuni
AU - Fukuchi, Yoshihiko
N1 - Publisher Copyright:
© 2020 Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot. All rights reserved.
PY - 2020
Y1 - 2020
N2 - Fast and accurate inspection of elevated structures is imperative for sustaining the increasing traffic flow o n deteriorating bridges. Despsite their importance, today's inspection processes still require dedicated equipment, impact traffic flow, a nd e xpose i nspection p ersonnel t o s afety concerns. The advent of Unmanned Aerial Vehicles (UAVs) and the ability to position a camera close to elevated highway structures presents an opportunity to perform inspections quickly, safely and effectively. Towards this goal, we present an end-to-end system for robotic bridge inspection. Our system is structured around integrated methods to (a) create UAV flight m issions; ( b) e valuate a ccuracy a nd completeness of data collection plans; (c) generate 3D models of the structures of interest; (d) detect surface distresses in 3D; and (e) generate inspection reports in compliance with the requirements of highway agencies. We present results on validating each algorithm and the system as a whole. We also share lessons learned from an owner's perspective on deploying this system for bridge inspection in Japan particularly around procedures for documenting, communicating, and following up on bridge inspectors' recommendations.
AB - Fast and accurate inspection of elevated structures is imperative for sustaining the increasing traffic flow o n deteriorating bridges. Despsite their importance, today's inspection processes still require dedicated equipment, impact traffic flow, a nd e xpose i nspection p ersonnel t o s afety concerns. The advent of Unmanned Aerial Vehicles (UAVs) and the ability to position a camera close to elevated highway structures presents an opportunity to perform inspections quickly, safely and effectively. Towards this goal, we present an end-to-end system for robotic bridge inspection. Our system is structured around integrated methods to (a) create UAV flight m issions; ( b) e valuate a ccuracy a nd completeness of data collection plans; (c) generate 3D models of the structures of interest; (d) detect surface distresses in 3D; and (e) generate inspection reports in compliance with the requirements of highway agencies. We present results on validating each algorithm and the system as a whole. We also share lessons learned from an owner's perspective on deploying this system for bridge inspection in Japan particularly around procedures for documenting, communicating, and following up on bridge inspectors' recommendations.
KW - Aerial robots
KW - Bridge inspection
KW - Computer vision
KW - Deep learning
KW - Structure from motion
UR - http://www.scopus.com/inward/record.url?scp=85109367539&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85109367539&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85109367539
T3 - Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot
SP - 1598
EP - 1605
BT - Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020
PB - International Association on Automation and Robotics in Construction (IAARC)
Y2 - 27 October 2020 through 28 October 2020
ER -