ACIS

A Real-time Autonomous Crack Inspection System on UAV

A crack inspection system on UAV accurately computes the cracks' positions only relied on a RGB-D camera.

Video

Publications

Tse, K.-W.; Pi, R.; Sun, Y.; Wen, C.-Y.; Feng, Y. A Novel Real-Time Autonomous Crack Inspection System Based on Unmanned Aerial Vehicles. Sensors 2023, 23, 3418.

Requirements

• Ubuntu 16.04 or 18.04
• ROS Kinetic or Melodic: ROS Install
• OpenCV >= 4.4: OpenCV 4.4 Linux Install
• To use OpenCV dnn module supports YOLOv4-SE, it requires OpenCV >= 4.7: OpenCV 4.7 Linux Install
• Python 3.8
• CUDA >= 10.0: CUDA Toolkit Archive
• CUDNN >= 7.0: cuDNN Archive

Build instructions on Linux

1. clone repository into working space

cd ~/catkin_ws/src
clone this repository to ~/catkin_ws/src folder 

2. Install 3rd Party library

cd ~/catkin_ws/src/ACIS/3rdPartLib/
./install3rdPartLib.sh

3. Compile

cd ~/catkin_ws
catkin_make

How to use (to detect cracks in our experiment)

1. Download the config, weight and obj.names files from Here
2. Change the path of these lines:

• cfg_path
• weight_path
• classid_path

static string cfg_path
static string weight_path
static string classid_path

3. Compile and launch camera node for crack detection:

cd ~/catkin_ws
rosrun ACIS camera

4. To visualize 2-D bounding boxes, uncomment the line drawBoundingBox

yolo.drawBoundingBox(image_rgb);

5. To visualize the estimate of object position in inertial frame, launch rviz node:

cd ~/catkin_ws
roslaunch ACIS rviz.launch

6. To improve the detection speed or accuracy, change the default input size yoloNet

static yoloNet yolo = yoloNet(cfg_path, weight_path, classid_path, 608, 608, 0.5);

How to use (to inspect objects in our experiment)

1. Connect the quadrotor with flight controller and launch mavros

roslaunch mavros px4.launch 

2. Launch the D455i camera by realsense-ros

roslaunch realsense2_camera rs_camera.launch align_depth:=true

3. Launch the camera node and fj005 node:

cd ~/catkin_ws
roslaunch ACIS fj005.launch

4. To visualize the detected object and flight trajectory in inertial frame, launch rviz node:

cd ~/catkin_ws
roslaunch ACIS rviz.launch

Maintainer

Kwai-wa Tse (Dept.AAE,PolyU): kwai-wa.tse@connect.polyu.hk