A high-accuracy hollowness inspection system with sensor fusion of ultra-wide-band radar and depth camera

Kang, Haoran1; Zhang, Wentao1; Ge, Yangtao1; Liao, Haiou1; Huang, Bangzhen1; Wu, Jing1; Yan, Rui-Jun1; Chen, I-Ming2

2022-12-01

10.1017/S0263574722001692

ROBOTICA   影响因子和分区

0263-5747

1469-8668

With the dangerous and troublesome nature of hollow defects inside building structures, hollowness inspection has always been a challenge in the field of construction quality assessment. Several methods have been proposed for inspecting hollowness inside concrete structures. These methods have shown great advantages compared to manual inspection but still lack autonomy and have several limitations. In this paper, we propose a range-point migration-based non-contact hollowness inspection system with sensor fusion of ultra-wide-band radar and laser-based depth camera to extract both outer surface and inner hollowness information accurately and efficiently. The simulation result evaluates the performance of the system based on the original range-point migration algorithm, and our proposed one and the result of our system show great competitiveness. Several simulation experiments of structures that are very common in reality are carried out to draw more convincing conclusions about the system. At the same time, a set of laboratory-made concrete components were used as experimental objects for the robotic system. Although still accompanied by some problems, these experiments demonstrate the availability of an automated hollow-core detection system.

ultra-wide-band radar microwave imaging construction automation

SCI ; EI

英语

第一 ; 通讯

National Science Foundation of China["U1913603","62203205"]

Robotics

Robotics

WOS:000903621100001

CAMBRIDGE UNIV PRESS

20231213743833

Cameras ; Concretes ; Imaging systems ; Inspection equipment ; Ultra-wideband (UWB)

Concrete:412 ; Radio Systems and Equipment:716.3 ; Photographic Equipment:742.2 ; Imaging Techniques:746 ; Inspection:913.3.1

ENGINEERING

2-s2.0-85150062913

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Guangdong, Peoples R China
2.Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore

Kang, Haoran,Zhang, Wentao,Ge, Yangtao,et al. A high-accuracy hollowness inspection system with sensor fusion of ultra-wide-band radar and depth camera[J]. ROBOTICA,2022,41(4):1258-1274.

Kang, Haoran.,Zhang, Wentao.,Ge, Yangtao.,Liao, Haiou.,Huang, Bangzhen.,...&Chen, I-Ming.(2022).A high-accuracy hollowness inspection system with sensor fusion of ultra-wide-band radar and depth camera.ROBOTICA,41(4),1258-1274.

Kang, Haoran,et al."A high-accuracy hollowness inspection system with sensor fusion of ultra-wide-band radar and depth camera".ROBOTICA 41.4(2022):1258-1274.