A novel intelligent inspection robot with deep stereo vision for three-dimensional concrete damage detection and quantification

摘要

Crack assessment of reinforced concrete structures using stereo cameras is a potential way for increasing the efficiency and safety of infrastructure maintenance routines. However, existing damage methods for reinforced concrete structures are based on the segmentation of two-dimensional planes without consideration to the actual size of concrete damage. Furthermore, on-site structural monitoring requires the installation of a large number of contact-based sensing devices, resulting in the potentially excessive consumption of time and financial resources. Therefore, a new vision-based damage assessment method for reinforced concrete structures using a novel intelligent inspection robot with Internet of things–enabled data communication system is proposed in this article. In the first part of this article, the data acquisition system of the inspection robot and the algorithm for three-dimensional structural reconstruction using a stereo camera is discussed. The discussion is followed by a description of the method for crack quantification based on a new proposed deep-learning technique. Finally, to accomplish damage localization, the quantified concrete damage with actual size information is projected onto a three-dimensional surface point cloud reconstruction of the inspected structure. To verify the proposed method, a reinforced concrete column that has undergone cyclic loading failure is used as an inspection subject. The validation experiment demonstrated the ability of the proposed system to segment, localize, and quantify the damage in three-dimensional space with high accuracy.