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Towards autonomous inspection of concrete deterioration in sewers with legged robots

Abstract:

The regular inspection of sewer systems is essential to assess the level of degradation and to plan maintenance work. Currently, human inspectors must walk through sewers and use their sense of touch to inspect the roughness of the floor and check for cracks. The sense of touch is used since the floor is often covered by (waste) water and biofilm, which renders visual inspection very challenging. In this paper, we demonstrate a robotic inspection system which evaluates concrete deterioration ...

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Publication status:
Published
Peer review status:
Peer reviewed

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Files:
Publisher copy:
10.1002/rob.21964

Authors


Publisher:
Wiley
Journal:
Journal of Field Robotics More from this journal
Volume:
37
Issue:
8
Pages:
1314-1327
Publication date:
2020-05-27
Acceptance date:
2020-05-10
DOI:
EISSN:
1556-4967
ISSN:
1556-4959
Language:
English
Keywords:
Pubs id:
1109777
Local pid:
pubs:1109777
Deposit date:
2020-07-07

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