A robotics and computer-aided procedure for defect evaluation in bridge inspection
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ORIGINAL PAPER
A robotics and computer‑aided procedure for defect evaluation in bridge inspection Francesco Potenza1 · Cecilia Rinaldi1 · Erika Ottaviano2 · Vincenzo Gattulli3 Received: 30 October 2019 / Revised: 29 February 2020 / Accepted: 20 March 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Image processing may enhance condition assessment of bridge defects. In this perspective, we propose robotics and computer-aided procedure, which enables quantitative evaluation of defect extension with a specific storage organization, and performed by unmanned aerial vehicle (UAV). The methodology for defect evaluation uses color-based image processing. Data contained in digital images are taken on pre-classified structural elements. A campaign of UAV-based inspections has been performed to evidence the potentiality of the proposed procedure. Recurrent defects, occurring in infrastructure belonging to the Italian National railway system, allow evidencing the main features of the developed image-processing algorithm. The proposed process of damage detection and quantification is discussed with respect to both the level of automation that can be reached in each phase and the robustness of the used image processing adopted procedure. Keywords Defect detection · Digital image processing · Computer-aided engineering · Railway bridge · Robotic inspection · Semi-automatic procedure · Infrastructure management
1 Introduction Infrastructures can be exposed to different loading conditions, recurrent ones due to vehicular traffic and extraordinary ones caused by earthquakes, wind, and strong rain. The consequently induced stresses may determine structural deterioration and damage, which can even cause catastrophic collapses related to significant socio-economic losses [1]. Therefore, the issues related to the possibility of reaching/ increasing a level of automation for inspection and maintenance of infrastructure are still prone to research interests. During these last years, the classical activities conducted commonly with human inspectors by visual quality control * Vincenzo Gattulli [email protected] 1
Department of Civil, Construction‑Architectural and Environmental Engineering, University of L’Aquila, Via Giovanni Gronchi 18, 67100 L’Aquila, Italy
Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043 Cassino, Italy
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Department of Structural and Geotechnical Engineering, Sapienza University of Rome, Via Eudossiana 18, 00184 Rome, Italy
for damage assessment is under a deep innovative renovation due to newly available tools coming from Information and Communication Technologies (ICT). Indeed, for example, current visual inspection, which highly relies on an inspector’s subjective or empirical knowledge that can induce false evaluation [2], can be enhanced by robotic/automatic assisted operations. Usually, the actions performed by inspectors require a long time to examine large areas, which may be difficult
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