Multi-Sensor Module Development for Indoor Structural Damage Inspection

Abstract

The objective investigation and damage assessment of disaster accident sites are crucial for disaster prevention and response. We are developing disaster response technologies, such as monitoring disaster accident sites, analyzing collected information, propagating the situation, and supporting decision-making using advanced technology and equipment such as drones, robots, and special vehicles. It is necessary to develop disaster investigation robot utilization technology to replace the infrastructure collapse that might occur, drawing on data from indoor investigations of earthquake sites and building collapse sites, gathered using the Caterpillar-type investigation robot (iRobot Packbot) introduced in 2017 for investigating hazardous chemical leaks.

We developed a Vision-LiDAR SLAM module that can be mounted on a mobile investigation robot and to create indoor positioning and mapping technologies that utilize it. Through the Vision-LiDAR SLAM-equipped investigation robot, it seeks to collect 3D point cloud data from disaster sites and develop mapping and analysis technology for indoor disaster space information. Building on the 3D spatial information from LiDAR sensor, it aims to collect more detailed spatial information from inside disaster sites using vision sensor, analyze the collected spatial and crack data, and achieve enhanced disaster information collection and analysis. \end{abstract}