Defect detection with ego-noise reduction based on multimodal information in UAV hammering inspection

In this paper, we introduce a novel approach for defect detection in hammering inspections using Unmanned Aerial Vehicles (UAVs). Despite the promising application of UAVs for inspecting hard-to-reach structures, like bridges, their efficiency is often compromised by the significant ego noise produced by their motor-propeller systems. This noise complicates the discrimination between healthy and defective hammering sounds. In previous research, methods to improve robustness through supervised learning have been proposed; however, these methods require the labeling of hammering sounds by skilled inspectors to train the discrimination model. To overcome this problem, we propose an ego-noise reduction method based on propeller vibrations. By reducing ego noise and thereby making the characteristics of hammering sound more dramatically clear, we enable unsupervised defect detection amidst ego noise. Our experiments with concrete specimens demonstrate that our technique achieves defect detection with an accuracy on par with the supervised method. The proposed method proves especially beneficial for hammering inspections, in which the domain gap–the variability in acoustic signatures of hammering sounds caused by differences in concrete mix ratios and curing conditions from one site to another–presents a significant challenge. Our approach effectively adapts to these variations, ensuring reliable defect detection across diverse construction environments.