gisgap-uav-structure · Multi-Modal Bridge Inspection

Pipeline

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0

Acquisition

UAV pass · trajectory · sensor footprints · RTK pose
1a

RGB ortho

SfM/MVS · DINOv2 features · crack/corrosion seg
1b

Thermal

Radiometric · ConvNeXt-FT · anomaly score
1c

LiDAR

Sparse 3D conv · PointNet++ · deformation field
1d

GPR

B-scans · hyperbola detector · CFAR delamination
1e

Acoustic array

Spectrogram CNN · CRNN · array beamforming
1f

X-ray backscatter

Conv encoder · physics normalisation · duct voids
2

Cross-modal fusion

Geometry-aware token attention · per-modality keys
3

Defect head

Class · geometry (DETR) · severity · conformal CI
4

Temporal / RUL

Risk progression · neural ODE · Bayesian state-space
5

Edge inference

INT8 · pruned · saliency-gated · Orin / Hailo-15

Sensor coverage — mission HVR-2026-04

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Layers

Filter

Defect class

Crack
Corrosion
Delamination
Void / internal
Spalling

Orange ring = worsened since last pass