Structural inspection and maintenance of bridges are essential to improve the safety and sustainability of the infrastructure systems. Visual inspection using non-equipped eyes is the principal method of detecting surface defects of bridges, which is time-consuming, unsafe, and encounters inspectors falling risks. Therefore, there is a need for automated bridge inspection. Recently, Light Detection and Ranging (LiDAR) scanners are used for detecting surface defects. LiDAR scanners can collect high-quality 3D point cloud datasets. In order to automate the process of structural inspection, it is important to collect proper datasets and use an efficient approach to analyze them and find the defects. Deep Neural Networks (DNNs) have been recently used for detecting 3D objects within 3D point clouds. PointNet and PointNet++ are deep neural networks for classification, part segmentation, and semantic segmentation of point clouds that are modified and adapted in this work to detect surface concrete defects. The research contributions are: (1) Designing a LiDAR-equipped UAV platform for structural inspection using an affordable 2D scanner for data collection, and (2) Proposing a method for detecting concrete surface defects using deep neural networks based on LiDAR generated point clouds. Training and testing datasets are collected from four concrete bridges in Montréal and annotated manually. The point cloud dataset prepared in five areas, which contain more than 51 million points and 2,572 annotated defects in four classes of crack, light spalling, medium spalling, and severe spalling. The accuracies of 75% (adapted PointNet) and 79% (adapted PointNet++) in detecting defects are achieved in binary semantic segmentation
