Advanced 2D-LiDAR-Based Pothole Detection and Volume Analysis with an Autonomous Repair System for Smart Cities

This paper explores the development of an autonomous pothole detection and volume analysis system. Through the use of a novel 2D-LiDAR based system, both pothole detection and accurate volume analysis were achieved. The system achieved a $\mathbf{1 0 0 \%}$ detection rate when a pothole was present with a $\mathbf{2 0 \%}$ false-positive rate when a pothole was absent. The system further estimated volume with a $\mathbf{2 0. 2 \%}$ error rate. A dispenser prototype which uses a gantry to control a horizontal dispenser system was created to fill potholes. The implementation of this technology can be combined with a city sweeper to create a fully automated road maintenance system.