An improved robot for bridge inspection

Abstract

This paper presents a significant improvement from the previous submission from the same authors at ISARC 2016. The robot is now equipped with low-cost cameras and a 2D laser scanner which is used to monitor and survey a bridge bearing. The robot is capable of localising by combining a data from a pre-surveyed 3D model of the space with real-time data collection in-situ. Autonomous navigation is also performed using the 2D laser scanner in a mapped environment. The Robot Operating System (ROS) framework is used to integrate data collection and communication for navigation.

Metadata

Authors/Creators:

Peel, H
Luo, S
Cohn, A https://orcid.org/0000-0002-7652-8907
Fuentes, R https://orcid.org/0000-0001-8617-7381

Copyright, Publisher and Additional Information:

© This is an author produced version of a paper published in Proceedings of the 34th ISARC.

Keywords:

Bridge inspection, monitoring, SfM, SLAM, ROS

Dates:

Accepted: 1 June 2016
Published (online): 3 July 2017
Published: 3 July 2017

Institution:

The University of Leeds

Academic Units:

The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Civil Engineering (Leeds) > Institute for Resilient Infrastructure (Leeds)
The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds)

Funding Information:

Funder	Grant number
EPSRC	EP/N010523/1

Depositing User:

Symplectic Publications

Date Deposited:

22 Aug 2017 11:09

Last Modified:

08 Jun 2022 09:04

Status:

Published

Publisher:

IAARC

Identification Number:

https://doi.org/10.22260/ISARC2017/0092

CORE (COnnecting REpositories)

CORE (COnnecting REpositories)