One of the critical factors in the regional economic development and sustainability is the regular maintenance of road infrastructure. The preliminary step in the structural maintenance of bridges is in-situ inspection.Accurate and reliable infrastructure inspection plays a vital role in making the further steps’ decision, whether more assessment needs to put into action or the bridge is in good condition.The visual assessment, at the moment, is performed manually by the engineers, being therefore a too time-consuming and expensive operation, and in case of inspecting the critical points puts the engineers in danger, otherwise those parts will be missing of data. Overcoming these barriers, over the past few decades, considerable efforts have been made to construct the fundamental of implementing artificial intelligent techniques as a tool, to do autonomous inspection.This research engages in the data analysis section of the autonomous inspection with segmenting the cracks on the images acquired by them. This goal is achieved by implementing semantic segmentation deep learning development which is being trained on 8192 images and their binary masks as dataset, using the U-Net network. The model prediction shows 98.2% accuracy in crack segmentation. However, the novelty of our research extends beyond these results, we introduce a unique evaluation method named Pixel Average Error Distance (PAED) instead of the commonly used Intersection over Union (IoU) metric for segmentation assessment. Our methodology aims to forego the IoU metrics unreliable results in case of small deviation of crack patterns. It enhances the understanding of our model real performance with the PAED metrics lower than 0.5 which demonstrates a well-designed model, while the average IoU with 0.65 value shows a poor-designed model.Overall, this method will provide the engineer the possibility to observe all surfaces of a bridge and have a reliable and precise evaluation of the existing cracks.
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