Transfer Learning-Based Crack Detection by Autonomous UAVs

Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the data and its integration with autonomous UAVs. These will enable huge steps onward into full automation of building inspection. In this regard, this work presents a decision making tool for revisiting tasks in visual building inspection by autonomous UAVs. The tool is an implementation of fine-tuning a pretrained Convolutional Neural Network (CNN) for surface crack detection. It offers an optional mechanism for task planning of revisiting pinpoint locations during inspection. It is integrated to a quadrotor UAV system that can autonomously navigate in GPS-denied environments. The UAV is equipped with onboard sensors and computers for autonomous localization, mapping and motion planning. The integrated system is tested through simulations and real-world experiments. The results show that the system achieves crack detection and autonomous navigation in GPS-denied environments for building inspection

A network linking scene perception and spatial memory systems in posterior cerebral cortex

The neural systems supporting scene-perception and spatial-memory systems of the human brain are well-described. But how do these neural systems interact? Here, using fine-grained individual-subject fMRI, we report three cortical areas of the human brain, each lying immediately anterior to a region of the scene perception network in posterior cerebral cortex, that selectively activate when recalling familiar real-world locations. Despite their close proximity to the scene-perception areas, network analyses show that these regions constitute a distinct functional network that interfaces with spatial memory systems during naturalistic scene understanding. These “place-memory areas” offer a new framework for understanding how the brain implements memory-guided visual behaviors, including navigation