Publications / 2017 Proceedings of the 34rd ISARC, Taipei, Taiwan

An Improved Robot for Bridge Inspection

Harriet Peel, Shan Luo, Anthony Cohn and Raul Fuentes
Pages 663-670 (2017 Proceedings of the 34rd ISARC, Taipei, Taiwan, ISBN 978-80-263-1371-7, ISSN 2413-5844)

"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."

Keywords: Bridge inspection, monitoring, SfM, SLAM, ROS