TY - GEN
T1 - Crack detection by a climbing robot using image analysis
AU - De Paz, J. P.Zavala
AU - Castaneda, E. Castillo
AU - Castro, X. Y.Sandoval
AU - Jimenez, S. M.Ramirez
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - climbing robot
KW - cracks
KW - illumination pattern
UR - http://www.scopus.com/inward/record.url?scp=84881050353&partnerID=8YFLogxK
U2 - 10.1109/CONIELECOMP.2013.6525765
DO - 10.1109/CONIELECOMP.2013.6525765
M3 - Contribución a la conferencia
AN - SCOPUS:84881050353
SN - 9781467361545
T3 - 23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013
SP - 87
EP - 91
BT - 23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013
T2 - 23rd International Conference on Electronics, Communications and Computing, CONIELECOMP 2013
Y2 - 11 March 2013 through 13 March 2013
ER -