Real-time 3D Scanning System for Pavement Distortion Inspection
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1 Real-time 3D Scanning System for Pavement Distortion Inspection Bugao Xu, Ph.D. & Professor University of Texas at Austin Center for Transportation Research Austin, Texas 78712
2 Pavement distress categories Fracture (cracking, spalling and fatiguing) Distortion (rutting, corrugation and shoving) Disintegration (stripping, raveling)
3 Rutting and Shoving Rutting: surface depression in the wheel path. Shoving: longitudinal or transverse displacement Pothole: bowl-shaped holes of various sizes in the pavement surface
4 System principle Dynamic generation and characterization of 3D pavement profiles. Structured light.
5 System principle System Items An infrared laser line projector A GigE digital camera Laser line transversely covers pavement lane Camera captures consecutive laser line images while the vehicle moves forward Structured-light triangulation 3-D transverse profiles for distress detections
6 Triangulation
7 Elevation calculation α arctan( ya / f ) h l tan( θ) m l tan( θ α) Δh h m l (tan( θ) tan( θ α)) The unknown parameters (f, l and θ) can be obtained through a calibration procedure.
8 System specifications Maximum scan rate Sample Points Scan width Vertical resolution Horizontal resolution Profile spacing Maximum vehicle speed 200 lines/sec 1024 points/line /1 unit 1830 mm/ 1 unit 2 mm 1.79 mm km/h
9 Calibration An infrared filter eliminates the effect of the ambient lighting Only the points in the laser stripe are available The surface points are all located in the laser plane Tsai model is adopted to satisfy the coplanar calibration constrain
10 Calibration pattern and feature points
11 Multi-view scheme
12 Laser stripe location The processing time < 5 ms Image frame rate up to 200 frames per second. Insensitive to lighting conditions and pavement textures.
13 Sub-pixel laser stripe location Median filtering Coarse edge detection Stripe curve interpolation by cubic splines Fine profile adjusting (sub-pixel)
14 Laser line locating procedure
15 Edge detection if ( avggray threshold _ 1 ) && ( ratioavg2bkg threshold else, Canny _ 2), avggray: average grey value of image ratioavg2bkg: the ratio between average grey value and background of image Canny operator: with dynamic thresholds (which change depending on the image average grey value) is applied.
16 Fine profile adjusting Y Y r k Y Y r k r k F( i)( i Y r k ) / Y Y r k r k F( i) Y: final profile precise location. Y r : coarse position of the stripe obtained from last step. F(i): the image grey value at pixel i. Adjust the profile in each image column.
17 3D scans of a target Triangular target W H Actual (mm) Scanned (mm) Mean S.D. Height (H) Width (W)
18 Pavement rutting measurement Pavement rutting refers to surface depression in the wheel path. Median filtering Approximating profile Calculating the 1st and 2nd order derivatives of the endpoints Searching the rut support point pair Calculating the rut parameters
19 Rut depth measurement
20 Approximating profile Searching rut support points
21 Calculating rut parameters Rut depth: The maximal distance between the line AG and the road profile Rut area: The area between the line AG and the road profile Rut level: According to the rut depth, rut level is classified into 4 levels: depth <6 mm 1 6<=depth< <=depth<19 3 depth>=19 4
22 Rutting Measurements Parameter Scanned Manual Run 1 Run 2 Run 3 Max rut depth (mm) Rut depth (mm) Rut area (mm 2 ) N/A
23 Shoving Measurements B E A h 0 h 1 C D H Locate support points of shoving profile (points B&E) Search bump root points A&C, and points D&H Calculate the heights of the bumps (h 0 and h 1 ) Calculate the shoving width and depth
24 Shoving Measurements Parameter Max depth (mm) Scanned Run 1 Run 2 Run Max width (mm) Manual
25 Pothole detection Parameter Scanned Manual Pothole depth (mm) Pothole width (mm)
26 Summary 3D pavement profiles: real-time Structured light: reliable and inexpensive Multi-view coplanar calibration: Laser stripe locating method: sub-pixel accuracy Preliminary experiments: accurate rutting and shoving measurements.
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