UGVを用いた建物屋内のひび割れ検知

抄録

In recent years, robot technologies, especially UAVs, are actively introduced at the civil engineering field. One of the typical applications of UAV is the damage detection of the bridges etc. However, there are few examples of the indoor damage detection of the building using the robot technology. This paper presents the indoor crack detection methodology utilizing UGV and YOLO. In the proposed methodology, UGV captures many pictures or movies of indoor wall for detecting the cracks on the wall. After taking images of the wall, cracks on the wall are automatically identified by using YOLO. For the navigation of the UGV, LiDAR and AR markers are employed without SLAM. The usefulness of the proposed method is confirmed by experiments targeting university buildings.