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This paper proposes an automated crack evaluation technique for a high-rise bridge pier using a climbing robot. The proposed technique enables to automatically detect and quantify the bridge pier cracks even where cannot easily access by human for visual inspection. To achieve it, high quality images are obtained by scanning the vision cameras embedded on the climbing robot along the bridge pier surface. Then, a feature extraction-based image stitching algorithm is newly developed and applied for establishing the entire region of interest (ROI) images. The ROI images are then processed with a semantic segmentation algorithm for automated crack detection. Finally, the detected cracks are precisely quantified by a crack quantification algorithm. The proposed technique is validated using in-situ test data obtained from Jang-Duck bridge located at Gangneung city, South Korea. The test results reveal that the proposed technique successfully evaluate the bridge pier cracks with precision of 90.92 % and recall of 97.47 %.
1. 서 론
2. 클라이밍 로봇 영상 스캐닝 시스템 및 균열 평가 알고리즘
3. 실험적 검증 결과
4. 결 론
참고문헌
