A Robotized Raspberry-Based System for Pothole 3D Reconstruction and Mapping
Author:
Bruno Salvatore1ORCID, Loprencipe Giuseppe1ORCID, Di Mascio Paola1ORCID, Cantisani Giuseppe1ORCID, Fiore Nicola1ORCID, Polidori Carlo2, D’Andrea Antonio1ORCID, Moretti Laura1ORCID
Affiliation:
1. Department of Civil, Constructional and Environmental Engineering, Sapienza University of Rome, Via Eudossiana 18, 00184 Rome, Italy 2. AIPSS Associazione Italiana Professionisti Sicurezza Stradale, Piazza del Teatro di Pompeo 2, 00186 Rome, Italy
Abstract
Repairing potholes is a task for municipalities to prevent serious road user injuries and vehicle damage. This study presents a low-cost, high-performance pothole monitoring system to maintain urban roads. The authors developed a methodology based on photogrammetry techniques to predict the pothole’s shape and volume. A collection of overlapping 2D images shot by a Raspberry Pi Camera Module 3 connected to a Raspberry Pi 4 Model B has been used to create a pothole 3D model. The Raspberry-based configuration has been mounted on an autonomous and remote-controlled robot (developed in the InfraROB European project) to reduce workers’ exposure to live traffic in survey activities and automate the process. The outputs of photogrammetry processing software have been validated through laboratory tests set as ground truth; the trial has been conducted on a tile made of asphalt mixture, reproducing a real pothole. Global Positioning System (GPS) and Geographical Information System (GIS) technologies allowed visualising potholes on a map with information about their centre, volume, backfill material, and an associated image. Ten on-site tests validated that the system works in an uncontrolled environment and not only in the laboratory. The results showed that the system is a valuable tool for monitoring road potholes taking into account construction workers’ and road users’ health and safety.
Funder
European Commission
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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