Visual-based crack detection and skeleton extraction of cement surface

Du Jiang, Gongfa Li, Ying Sun, Jianyi Kong, Bo Tao, Dalin Zhou, Disi Chen, Zhaojie Ju

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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In order to realize the design of vision-based cement crack repair robot, it is necessary to accurately recognize and extract features of cracks. In this paper, three kinds of typical crack are selected to study, which are fine crack, reticulated crack and dark crack. Firstly, image filtering and image enhancement are used to pre-process the collected image to reduce the influence of noise on detection and enhance the contrast between image background and crack area. Then, the multi-scale morphological operation is applied to extract the fracture edge features effectively. The experimental results show that the proposed edge regions are obviously different from the background regions. Furthermore, by calculating and selecting the area of the largest connected area, the noise can be eliminated to the greatest extent. Finally, the traditional skeleton extraction algorithm is improved to eliminate the number of burrs in the traditional skeleton algorithm. By remapping the cracks images to color images, it can be found that the crack recognition and skeleton extraction meet the requirements, which can provide corresponding technical support for the navigation design of the crack repair robot.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part V
EditorsHaibin Yu, Jinguo Liu, Lianquing Liu, Zhaojie Ju, Yuwang Liu, Dalin Zhou
Number of pages12
ISBN (Electronic)978-3-030-27541-9
ISBN (Print)978-3-030-27540-2
Publication statusPublished - 6 Aug 2019
Event12th International Conference on Intelligent Robotics and Applications - Shenyang, China
Duration: 8 Aug 201911 Aug 2019

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Artificial Intelligence
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference12th International Conference on Intelligent Robotics and Applications
Abbreviated titleICIRA 2019


  • crack recognization
  • multi-scale morphology
  • skeletonization


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