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A high-accuracy hollowness inspection system with sensor fusion of ultra-wide-band radar and depth camera

Published online by Cambridge University Press:  23 December 2022

Haoran Kang ,
Wentao Zhang ,
Yangtao Ge ,
Haiou Liao ,
Bangzhen Huang ,
Jing Wu Open the ORCID record for Jing Wu [Opens in a new window] ,
Rui-Jun Yan  and
I-Ming Chen
Haoran Kang
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Wentao Zhang
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Yangtao Ge
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Haiou Liao
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Bangzhen Huang
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Jing Wu*
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
Rui-Jun Yan
Affiliation:
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong Province 518055, People’s Republic of China
I-Ming Chen
Affiliation:
School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore
*
*Corresponding author. E-mail: wuj@sustech.edu.cn
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Abstract

With the dangerous and troublesome nature of hollow defects inside building structures, hollowness inspection has always been a challenge in the field of construction quality assessment. Several methods have been proposed for inspecting hollowness inside concrete structures. These methods have shown great advantages compared to manual inspection but still lack autonomy and have several limitations. In this paper, we propose a range-point migration-based non-contact hollowness inspection system with sensor fusion of ultra-wide-band radar and laser-based depth camera to extract both outer surface and inner hollowness information accurately and efficiently. The simulation result evaluates the performance of the system based on the original range-point migration algorithm, and our proposed one and the result of our system show great competitiveness. Several simulation experiments of structures that are very common in reality are carried out to draw more convincing conclusions about the system. At the same time, a set of laboratory-made concrete components were used as experimental objects for the robotic system. Although still accompanied by some problems, these experiments demonstrate the availability of an automated hollow-core detection system.

Keywords

ultra-wide-band radarmicrowave imagingconstruction automation
Type
Research Article
Information
Robotica , Volume 41 , Issue 4 , April 2023 , pp. 1258 - 1274
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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