A lightweight encoder–decoder network for automatic pavement crack detection

摘要

Cracks are the most common damage type on the pavement surface. Usually, pavement cracks, especially small cracks, are difficult to be accurately identified due to background interference. Accurate and fast automatic road crack detection play a vital role in assessing pavement conditions. Thus, this paper proposes an efficient lightweight encoder–decoder network for automatically detecting pavement cracks at the pixel level. Taking advantage of a novel encoder–decoder architecture integrating a new type of hybrid attention blocks and residual blocks (RBs), the proposed network can achieve an extremely lightweight model with more accurate detection of pavement crack pixels. An image dataset consisting of 789 images of pavement cracks acquired by a self-designed mobile robot is built and utilized to train and evaluate the proposed network. Comprehensive experiments demonstrate that the proposed network performs better than the state-of-the-art methods on the self-built dataset as well as three other public datasets (CamCrack789, Crack500, CFD, and DeepCrack237), achieving F1 scores of 94.94%, 82.95%, 95.74%, and 92.51%, respectively. Additionally, ablation studies validate the effectiveness of integrating the RBs and the proposed hybrid attention mechanisms. By introducing depth-wise separable convolutions, an even more lightweight version of the proposed network is created, which has a comparable performance and achieves the fastest inference speed with a model parameter size of only 0.57 M. The developed mobile robot system can effectively detect pavement cracks in real scenarios at a speed of 25 frames per second.