ICRA 2011 Paper Abstract


Paper ThP214.1

Lim, Ronny Salim (Oklahoma State University), La, Hung (Oklahoma State University), Sheng, Weihua (Oklahoma State University), Shan, Zeyong (Safety Vision)

Developing a Crack Inspection Robot for Bridge Maintenance

Scheduled for presentation during the Regular Sessions "Omnidirectional Vision for Robotics" (ThP214), Thursday, May 12, 2011, 15:25−15:40, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Mapping, Robotics in Construction, Nonholonomic Motion Planning


One of the important tasks for bridge maintenance is bridge deck crack inspection. Traditionally, a human inspector detects the crack using his/her eyes and finds the location of the crack manually. Thus the accuracy of the inspection result is low due to the subjective nature of human judgement. We propose a system that uses a mobile robot to conduct the inspection, where the robot collects bridge deck images with a high resolution camera. In this method, the Laplacian of Gaussian algorithm is used to detect the crack 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 system through experiments and simulation.



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