Crack detection by a climbing robot using image analysis

J. P.Zavala De Paz, E. Castillo Castaneda, X. Y.Sandoval Castro, S. M.Ramirez Jimenez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

Cracking on surfaces as walls or roofs of a building results in a rapid deterioration of such structures. Access to these places is sometimes very difficult for people. One approach to solve such inconvenient is the use of climbing robots provided with sensing devices. In this paper, we propose a computer vision system using image analysis for inspection. A stereo camera is mounted on the thorax of a hexapod robot, named Hex-piderix. The images are processed using a method described in this document. It is a method invariant to illumination to detect cracks in the surface. Image is improved through the estimation and removal of lighting pattern, and then a thresholding is applied using Otsu method. Finally morphological operations are applied to extract crack information.

Original languageEnglish
Title of host publication23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013
Pages87-91
Number of pages5
DOIs
StatePublished - 2013
Externally publishedYes
Event23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013 - Cholula, Puebla, Mexico
Duration: 11 Mar 201313 Mar 2013

Publication series

Name23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013

Conference

Conference23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013
Country/TerritoryMexico
CityCholula, Puebla
Period11/03/1313/03/13

Keywords

  • climbing robot
  • cracks
  • illumination pattern

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