Multimodal data collection using mobile robotics for rapid structural assessment

摘要

This study focuses on assessing civil engineering systems lacking documentation, a common challenge in assessing old systems. Using tools like cameras and LiDARs to generate 3D models of the structure is a useful implementation; however, it becomes difficult when these systems are off-limits due to disaster-induced structural risks. Using mobile robots emerges as a promising solution to this limitation. Thus, this study employs a wheeled Unmanned Ground Vehicle (UGV) equipped with cameras, LiDARs, and other sensors (e.g., accelerometers) to collect multimodal data, including visual and monitoring. The study demonstrates using the UGV to collect data from a mechanical room of a building. The UGV navigates the room, collecting various data such as images, LiDAR scans, and vibration data while generating the interior mapping of the room in real-time. This study presents some of the collection results and highlights the significance of using mobile robotics for rapid assessments of civil systems.