An image processing mechanism for aerial inspection robots to detect submillimeter-width concrete cracks in social infrastructures

• Published in: Advanced robotics 2024-05, Vol.38 (9-10), p.698-714
• Main Authors: Dixit, Ankur, Oshiumi, Wataru, Shrivastava, Manu, Wagatsuma, Hiroaki
• Format: Article
• Language: English
• Subjects: anisotropic diffusion; basis-pursuit (BP) algorithm; image texture; morphological component analysis; Sparse modeling
• ISSN: 0169-1864; 1568-5535
• DOI: 10.1080/01691864.2024.2324317

Inspection robots for early detection of potential risks in severe environments require a high accuracy like human experts. A fine mechanism is crucial for extracting target components from noisy signals. We have proposed a detection system for submillimeter-width cracks in concrete surfaces of social infrastructures, such as bridges, by using morphological component analysis (MCA), for aerial image-inspection robots. Traditional schemes like PCA have relied on linear decomposition for the separation of target signal and noise components. Recent advancement in signal decomposition focuses on the enhancement of linearity in the separation by introducing a set of nonlinear basis functions to represent the raw signal even when multiple factors are mixed in a nonlinear manner. In this sense, MCA is a core technique to be able to isolate target components to represent submillimeter-width cracks from others. We proposed a proper pre- and post-processing operations to attach MCA, which demonstrated a high accuracy yet coarse and fine image components have to be integrated redundantly. In the present study, we successfully found a simpler mechanism to set the single basis function to extract the target by introducing a new thresholding mechanism. It suggests a high potential of MCA for inspection robots for various purposes.