Visual and 3D Mapping for Steel Bridge Inspection Using a Climbing Robot
Visual and 3D Mapping for Steel Bridge Inspection Using a Climbing Robot
复制标题
使用爬升机器人进行钢桥检测的视觉和 3D 测绘
DOI：
10.22260/isarc2016/0018
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
QuangVinh Dinh
中科院分区：
文献类型：
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作者：
Nhan H. Pham;H. La;Q. Ha;Sy N. Dang;Anh H. Vo;QuangVinh Dinh
美国有60多万座桥梁，需要大量的人力和昂贵的专门设备进行维护。目前的桥梁检测都是由检验员人工进行，效率低，不安全。利用研制的攀爬机器人，对钢桥和钢结构进行了视觉和三维结构检测。该机器人可以在钢材表面自由移动，携带多个传感器，并采集数据，然后发送到地面站进行实时监控和进一步处理。进行了钢材表面图像拼接和三维地图构建，提供了结构的现状。
There are over six hundred thousand bridges in the U.S. which require great amount of human effort along with expensive and specialized equipment for maintenance. Current bridge inspections are manually performed by inspectors which are inefficient and unsafe. This paper presents visual and three dimensional (3D) structure inspection for steel bridges and steel structures using the developed climbing robot. The robot can move freely on steel surface, carry several sensors, and collect data then send to the ground station for real-time monitoring as well as further processing. Steel surface image stitching and 3D map building are conducted to provide a current condition of the structure.