Ground Penetrating Radar B-scan Research Articles

A New 3D Mapping Method of Buried Pipelines from GPR B-scans

Abstract Ground penetrating radar (GPR) is a non-destructive testing method originally developed for the investigation of underground space and is now widely used in pipeline detection. To map the underground pipelines using GPR, the main challenges include the estimation of depth and orientation through two-dimensional profiles. In this paper, a new 3D mapping framework of buried pipelines from GPR B-scans is proposed. After obtaining sufficient B-scans through parallel survey lines, the proposed procedure mainly includes four stages: data pre-processing, wave velocity estimation, 2D migration and binarization, and 3D stacked image display. Canny edge detection is used to extract hyperbolic features and estimate the propagation velocity of electromagnetic waves in underground media. Migration and binarization are conducted on pre-processed B-scans before 3D stacking. The results show that the proposed method can accurately and intuitively display the position and direction of pipelines by generating three-dimensional images.

Enhanced Scoring Instance Segmentation Network for Subsurface Targets Recognition from GPR B-Scans

Abstract Ground Penetrating Radar (GPR) is a non-destructive technique used for detecting subsurface structure and space. However, the interpretation of field GPR data is quite labour-intensive and time-consuming. This paper develops a deep learning-based approach for the detection and segmentation of subsurface targets based on GPR data. Since existing deep learning methods do not always accurately reflect the true quality of segmentation masks and exhibit locality when handling details in complex scenes, the proposed method employs the Mask Scoring R-CNN (MS R-CNN) framework as its primary framework and makes additional modifications to its backbone and neck architecture. Experimental results on GPR bridge dataset show notable improvements in loss metrics, segmentation accuracy, and bounding box precision. These enhancements have effectively reduced overall losses and enhanced the performance of Average Precision index of the enhanced MS R-CNN, demonstrating the effectiveness of our approach in the accurate identification of underground objects under complex environments.

GPR circumferential survey line radius’s effect on shield machine tunnel look-ahead detection

Abstract In southern cities of China shield machines often encounter obstacles such as large boulders in complex strata which may cause more abrasion to the shield machine’s cutterhead and even make the shield machine stuck. Therefore, it is important to know distribution of obstacles in front of excavation face in advance. Ground penetrating radar (GPR) is an efficient and accurate detection method to ahead detect large boulders when GPR antennas are put in the cutter head. Synthetic simulations of GPR look-ahead detection are carried out based on finite difference time domain mothed. Antennas are put at two different radii of 4 meters and 7 meters within a 15-meter diameter cutter head. GPR response of boulders in various positions can be clearly found in B-scan images and effect of survey line radius is discussed. Reflection wave in circumferential survey line has continuous sinusoidal wave feature which is different from hyperbola curve feature in conditional straight survey line. The reflection waves of boulders in GPR B-scan images show same characteristics at two different radii of the survey line. Numerical simulation results provide evidences for GPR in accurate tunnel forward-looking detection in complex strata.

Experimental validation of the horizontal resolution improvement by ultra-wideband metasurfaces for GPR systems

Achieving high horizontal resolution is crucial for general non-destructive testing (NDT) applications, and in the domain of ground penetrating radar (GPR), it can be more challenging due to inefficient transmissions of electromagnetic waves into and through complex material under test (MUT). In this study, we showcase the validation results of our recently designed ultra-wideband metasurface (UWM) in improving the horizontal resolution for GPR B-Scan images. This UWM has an ultra-wide working frequency band (100%) from 1 to 3 GHz, in which high-frequency GPR signals can be enhanced and transmitted into MUT. Our fourteen-day consecutive GPR experiments demonstrate that two buried pipes with an edge-to-edge spacing of 8 cm that are hard to distinguish by traditional GPR surveys can be visually identified by depositing the UWM atop the MUT. The underlying mechanism is the sustained and improved transmission of high-frequency signals into the MUT, enabled by the removal of transmission coupling loss by the UWM at the air–MUT interface and the resulting enhanced transmission of more high-frequency components. Our simulations also provide quantitative analysis of such enhanced behavior with a nominal transmittance increase of 30% ∼50%. We believe the horizontal resolution improvement enabled by UWM will open a new corridor for high-resolution GPR system design.

REN-GAN: Generative adversarial network-driven rebar clutter elimination network in GPR image for tunnel defect identification

In ground penetrating radar (GPR) images, the signals from reinforcing steel bars (rebars) can significantly obscure the signals of void defects beneath them, which hinders defect detection in tunnel linings. This study introduces a novel, end-to-end unsupervised deep learning-based network that is trained on unpaired GPR images. The primary objective is to suppress the rebar signal and enhance the accuracy of void defect identification in recorded GPR B-Scan images. The network incorporates an autoencoder generator with feature attention and feature mix-up modules, designed to recover textural information and generate improved images devoid of rebar interference. Crucially, this network leverages a strategy of comparing images in feature space, rather than pixel space. The features extracted by the autoencoder are constrained by cycle perceptual consistency loss, derived from a pretrained VGG19 network, to ensure fidelity and perceptual accuracy. Furthermore, this study introduces an enhanced Faster-RCNN network, specifically improved through a more robust feature extraction module, for detecting void defects beneath rebars. The effectiveness of the proposed method has been thoroughly validated using both synthetic and real-world data sets. The results indicate that our method not only surpasses other unsupervised techniques in performance but also effectively diminishes rebar signals and accurately reconstructs and identify void defect signals.

Underground Diagnosis Based on GPR and Learning in the Model Space.

Ground Penetrating Radar (GPR) has been widely used in pipeline detection and underground diagnosis. In practical applications, the characteristics of the GPR data of the detected area and the likely underground anomalous structures could be rarely acknowledged before fully analyzing the obtained GPR data, causing challenges to identify the underground structures or anomalies automatically. In this article, a GPR B-scan image diagnosis method based on learning in the model space is proposed. The idea of learning in the model space is to use models fitted on parts of data as more stable and parsimonious representations of the data. For the GPR image, 2-Direction Echo State Network (2D-ESN) is proposed to fit the image segments through the next item prediction. By building the connections between the points on the image in both the horizontal and vertical directions, the 2D-ESN regards the GPR image segment as a whole and could effectively capture the dynamic characteristics of the GPR image. And then, semi-supervised and supervised learning methods could be further implemented on the 2D-ESN models for underground diagnosis. Experiments on real-world datasets are conducted, and the results demonstrate the effectiveness of the proposed model.

3D imaging and temporal evolution recognition of concrete internal defects based on GPR

Periodic inspections and recognition of temporal evolution for concrete internal defects are important for the long-term operation of civil engineering infrastructures. This study proposes a method integrating convolutional neural network (CNN) with maximum intensity projection (MIP) for 3D imaging and temporal evolution recognition of concrete internal defects. The proposed method utilizes MIP to process multiple ground penetrating radar (GPR) B-scans and generates 2D projected GPR B-scans containing spatial information. SegNet coupled with the Lovász softmax loss function is introduced to reconstruct 2D defects from projected GPR B-scans. Subsequently, 3D imaging result is reconstructed from 2D imaging results by 3D reconstruction module. Finally, the defect change extraction module realizes recognition of defect changes based on 3D imaging results at different time. The superiority of proposed method is validated based on both synthetic and real GPR data, which presents better recognition results and less time consumption than existing 3D CNN-based method.

A novel classification method for GPR B-scan images based on weak-shot learning

Ground Penetrating Radar (GPR) is extensively employed for underground target detection, and the advancements in this domain have been hastened by the utilization of deep learning methodologies. Despite advancements in deep learning, practical engineering applications often face challenges in meeting the demanding requirements of large-scale data and high data quality. In this study, based on cross-domain transfer learning, we proposed a method for underground target classification of weak labeled GPR data. It combined strongly annotated source domain data with weakly annotated target domain data through adversarial learning to leverage the prior knowledge from existing large datasets and addressed the classification problem of small-sample GPR data. By employing adversarial learning to integrate strongly labeled source domain data with weakly labeled target domain data, we leverage prior knowledge from existing large datasets, thereby enhancing classification accuracy on a small GPR dataset. This approach reduces the requirements for annotation quality and sample quantity in the GPR B-scan dataset of underground targets. Additionally, it exhibits robustness to label noise, making it applicable to real-world GPR data classification tasks. Compared to some well-known networks, the proposed model achieved the best classification performance in multiclass classification problems, with an accuracy of 87.62% and an F1macro score of 87.60% on the test set. These results represent an improvement of 17.14 and 17.20 percentage points, respectively, over the best-performing classical classification networks. Additionally, the proposed model's reliability in cross-domain transfer learning, even with limited data, was substantiated through a comparison with other few-shot learning networks.

Safety Monitoring of Transportation Infrastructure Foundation: Intelligent Recognition of Subgrade Distresses Based on B-Scan GPR Images

The safety monitoring of transportation infrastructure foundation is crucial for the sustainable service of transportation systems. In recent years, the Ground Penetrating Radar (GPR) has become a powerful tool to identify and locate the subgrade distresses according to the different responses of wave characteristics, preliminarily realizing an intelligent nondestructive detection. To solve the problems like small sample size and unbalanced dataset, this study used a deep data augmentation method, e.g. WGAN-GP network, to augment the original limited B-Scan GPR data of subgrade, and then carried out supervised learning for classification task. The detailed computation steps include the image processing, data augmentation and intelligent analysis. First, the dataset was initially enlarged through the traditional methods after noise filtering, gamma transform and other processing methods. Then, the WGAN-GP network was adopted to generate new high-quality B-Scan images. Finally, the intelligent classification of subgrade distresses was realized by ResNet50 model with a satisfactory accuracy of 90.85%.

Automatic recognition of defects behind railway tunnel linings in GPR images using transfer learning

Ground-penetrating radar (GPR) is widely used for non-destructive detection of hidden defects behind railway tunnel linings, including non-compactness, air- and water-filled voids, fractures, and insufficient lining thickness. However, manual interpreting a substantial volume of GPR B-scan images is time-consuming, and the results heavily depend on the professional knowledge of the practitioner and the available prior information. This paper presents an automatic recognition algorithm for detecting hidden defects, as well as estimating lining thickness in GPR B-scan images of railway tunnels using a You Only Look Once for Panoptic driving perception network (YOLOP) model. The process mainly contains three steps. Firstly, a real GPR dataset of underground objects is employed for transfer learning to enhance the robustness of the prediction model. Secondly, a dataset containing 2,245 real GPR B-scan images of railway tunnel linings is created. Thirdly, the established dataset is used to retrain the YOLOP model and assess the prediction accuracy for identifying hidden defects and lining thickness in GPR images. Field experiment results demonstrate that the trained hidden defects recognition algorithm achieves an average accuracy of 80.6%, with a detection time of only 0.02 s for a GPR image sizing of 1024 × 512. Therefore, it is concluded that the proposed algorithm is efficient and reliable for automatic recognition of hidden defects behind railway tunnel linings.

Reflection characteristics of typical road defects in 3D GPR images for collapse mitigation

Road collapses pose dangerous threats to traffic safety in urban cities. Typically, these collapses result from under-road defects such as cavities, loose soil, and voids. With the development of multi-channel 3D ground penetrating radar (GPR) systems, GPR has become a routine method for inspecting the subsurface conditions of roads. However, the reflection characteristics of hidden defects in 3D GPR results have not been well studied due to the complexity of urban road structures. Consequently, accurately detecting all subsurface defects in GPR survey areas remains challenging. In this paper, numerical models of road structures with typical types of hidden defects are constructed, and their reflection characteristics in GPR B-scan profiles and C-scan depth slices are analyzed. Then, the field results obtained using a car-mounted 3D GPR system are presented to confirm the reflection characteristics of these hidden defects. Finally, the reflections of manhole covers and underground pipelines, which are the most prevalent forms of clutter in GPR images in urban environments, are compared with those of hidden defects. The findings of this paper will facilitate the accurate interpretation of field 3D GPR data for road inspections and the mitigation of road collapse accidents.

PICGAN: Conditional adversarial neural network-based permittivity inversions for ground penetrating radar data

A network called Permittivity Inversions Conditional Generative Adversarial Network (PICGAN) has been proposed to address the challenge of mapping ground penetrating radar (GPR) B-scan data to permittivity maps of subsurface structures. The PICGAN comprises a generator and a discriminator. The generator uses an Encoder-Decoder network to extract low-dimensional features from the GPR B-scan while performing high-dimensional permittivity distribution mapping. The discriminator is designed with convolutional and pooling networks. The consistency of the corresponding relation between the input data is enhanced by simultaneously feeding both undetermined permittivity and real data to the discriminator. Meanwhile, the advantages of Markovian discriminator (PatchGAN) and gradient penalty Wasserstein GAN (WGAN-GP) are combined in PICGAN to propose a novel loss function with a regularization term and gradient penalty Wasserstein distance. The results of actual and numerical simulation experiments reveal that the PICGAN network is capable of reconstructing underground targets with clearer boundaries. Comparative results with Encoder-Decoder network and PatchGAN network also demonstrate the superiority of the PICGAN. The results also show that the PICGAN network can effectively reconstruct the position and permittivity of underground targets using GPR B-scan data with lower permittivity inversion errors.

Depth and Radius Joint Estimation for Underground Pipeline Using GPR

In this paper, a deep learning-based methodology is proposed to estimate depth and radius for underground pipeline using Ground penetrating radar(GPR) images. The proposed methodology conducts the depth and radius joint estimation based on GPR B-scan image preprocessing. During the preprocessing, the autoencoder structure network is designed to binarize the GPR image. Besides, redundant detection boxes of hyperbola detection are also eliminated. For pipeline depth estimation, the parabola model is used instead of the hyperbola model to obtain the symmetry axis of the pipeline GRP image more efficiently. The consecutive a-scan data at extracted symmetry axis and its vicinity are spliced and sent to the Long Short-Term Memory Network for depth estimation. For pipeline radius estimation, the image features and depth information are concatenated. A pre-trained convolutional neural network is designed to extract the GPR image features. Meanwhile, a 2d-Mapping network is proposed to encode the 1-dimensional depth information into 2-dimensional feature matrix. Improving the dimension of depth information rather than flattening the GPR image features (dimension reduction) can preserve the spatial information of image features. Besides, the depth information can be concatenated with the image features more flexibly. In all, the proposed methodology can accurately estimate the depth and radius of underground pipeline. To verify the effectiveness of the proposed methodology, the gprMax is used to generate the pipeline GPR images in inhomogeneous soil and create the dataset. The experiments include detailed comparison and analysis, illustrating that the proposed methodology is feasible and effective.

Defects identification and location of underground space for ground penetrating radar based on deep learning

Collapses of urban roads caused by defects in shallow underground spaces are extremely dangerous, and this imposes high requirements for the detection of potential defect areas. Although the characteristics of defects, including voids, water-bearing voids, hyperbola defects and loose defects, can be effectively detected using ground penetrating radar (GPR), amounts of GPR data are currently limited. In this work, a deep convolutional generative adversarial network (DCGAN) with an improved loss function is applied to augment existing GPR data to give a total of 3,256 images. More importantly, a recognition model for underground defects is proposed based on GPR B-scans and strengthened with attention modules using YOLO v5. The mean average precision (mAP) of the model is 85.4 %, a value 3.26 % higher than that of YOLO v5. The values of the average precision (AP) for voids, water-bearing voids, hyperbolae, and loose defects are 87.5 %, 86.6 %, 96.2 %, and 71.1 %, respectively. Finally, the locations and span sizes of the defects are obtained by estimating the velocity of the electromagnetic wave, and this approach is verified through a field test. The absolute error in the burial depth is less than 0.16 m, and the average error ratio is less than 15 %. The absolute error in the horizontal span is found to be lower than 0.28 m, with an average error ratio of smaller than 22 %. Consequently, the proposed method provides reasonable support for more accurate and effective detection of underground defects.

Surface-Related Multiples Elimination for Waterborne GPR Data

Ground-penetrating radar (GPR) is a well-respected, effective, and efficient geophysical technique. However, for underwater engineering detection and underwater archaeology, the measured B-scan profiles typically contain surface-related multiple waves, which can reduce the signal to noise ratio and interfere with the interpretation of results. SRME is a feedback iteration method based on wave equation, which is frequently utilized in marine seismic explorations but very rarely in GPR underwater engineering detection. To fill this gap, we applied SRME to suppress multiples that appear in GPR underwater images. When we compared the effectiveness of the underwater horizontal layered model and the underwater undulating interface model, we found a high match rate between the predicted and the real-world multiples. In addition, the addition of the Gaussian random noise level with a 4% maximum amplitude to the B-scan profile of the horizontal stratified model yielded satisfactory multiple suppression results. Finally, we applied this method to the B-scan GPR section of actual underwater archaeological images to achieve multiple suppression, which can more effectively weaken and inhibit the surface-related multiples. Both numerical simulations and actual field data show that the SRME method is highly suitable for interpreting waterborne GPR data, and more accurate interpretation can be obtained from the GPR profile after multiples suppression.

A Modular Method for GPR Hyperbolic Feature Detection and Quantitative Parameter Inversion of Underground Pipelines

Ground penetrating radar (GPR) is widely used to inspect underground pipelines because it is non-destructive. When the scan line of GPR is perpendicular to the pipe, it will exhibit hyperbolic features in GPR B-scan images, which have no intuitive relationship with the geometric and physical parameters of the pipeline, making the interpretation of GPR images difficult. This paper proposes a modular detection and quantitative inversion method for the hyperbolic features in GPR B-scan images, which is divided into two steps. In the first step, the YOLOv7 object detection network is used to automatically detect the hyperbolic features in GPR images. In the second step, a two-stage curve fitting method is proposed based on the characteristics of the detection model. It uses a few key point annotations of the hyperbolic pattern and some parameters of the GPR system to quantitatively invert the depth and radius of pipes. Using the same hardware and data set, YOLOv7 achieves an 11.1% improvement in detection accuracy and an 18.2% improvement in speed compared to YOLOv5. The relative errors of the proposed method for the depth and radius of the synthetic data in homogeneous media are 0.6% and 4.4%, respectively, and 4.8% and 15% in non-homogeneous media. The relative error of the depth inversion of the measured data TU1208 is less than 10%. The results show that the method can effectively invert the depth and radius of underground pipelines and reduce the difficulty of GPR data interpretation.

Unsupervised learning method for rebar signal suppression and defect signal reconstruction and detection in ground penetrating radar images

The signals of reinforcing steel bars (rebars) in ground penetrating radar (GPR) images may mask defect signals underneath them, negatively affecting defect detection in reinforced concrete. This study proposes an unsupervised learning-based method trained using unpaired GPR images to suppress the rebar signal and reconstruct the defect signal on the recorded GPR B-Scan images. In particular, four contrastive feature encoders and two similarity feature encoders are designed in the network. The extracted features of contrastive feature encoders and similarity feature encoders are constrained by contrastive and similarity loss functions, respectively. The proposed method was validated using data from three scenarios: synthetic data, sandbox experimental data, and data collected from reinforced concrete in field. The results showed that the proposed method outperforms other unsupervised methods, and it can effectively suppress the rebar signals and accurately reconstruct the defect signals. Moreover, the identification accuracy of defect underneath rebars can be improved significantly.

Simulation of GPR B-Scan Data Based on Dense Generative Adversarial Network

Urban subsurface infrastructures, e.g., pipelines and roads, are aging with the expansion of modern cities. Benefiting from the capability of nondestructive detection, ground penetrating radar (GPR) has been widely applied to underground objects or disasters detection, and GPR B-scan images are employed by manual interpretation. While, this way of high subjectivity and uncertainty inevitably results in failure of detection. Meanwhile, the shortage of labelled images greatly impedes the automatization and intelligentization of underground disaster detection based on GPR. Many data simulation techniques, e.g., forward modelling, were used to augment images for training; however, the generated forward images were not similar enough to the real B-scan data, which makes recognition a challenging task. To address this problem, we proposed a novel B-scan image simulation method based on generative adversarial network to generate synthetic images for training detection networks. Our network utilizes DenseNet as the backbone network of generator to extract image features, and a weighted total variation regularization term to regularize the loss function of the network. The comparison and ablation experiments verified that our network could generate simulation images with high similarity to real GPR B-scan images. We believe that this work contributes to the intelligent processing and analysis of GPR data, and improves the efficiency of underground disaster detection.

Robotic Inspection of Underground Utilities for Construction Survey Using a Ground Penetrating Radar

Ground penetrating radar (GPR) is a very useful nondestructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to automate the GPR data-collection process, localize underground utilities, and interpret and reconstruct the underground objects for better visualization, allowing regular nonprofessional users to understand the survey results. This system is composed of three modules: (1) an omnidirectional robotic data-collection platform that carries a RGB-D camera with inertial measurement unit (IMU) and a GPR antenna to perform automatic GPR data collection and tag each GPR measurement with visual positioning information at every sampling step, (2) a learning-based migration module to interpret the raw GPR B-scan image into a two-dimensional (2D) cross-section model of objects, and (3) a three-dimensional (3D) reconstruction module, i.e., 30.0% GPRNet, to generate underground utility model represented as fine 3D point cloud. Comparative studies were performed on synthetic data and field GPR raw data with various incompleteness and noise. Experimental results demonstrated that our proposed method achieves a higher GPR imaging accuracy in mean intersection over union (IoU) than the conventional back-projection (BP) migration approach, and 6.9%−7.2% less loss in Chamfer distance (CD) than point cloud model reconstruction baseline methods. The GPR-based robotic inspection provides an effective tool for civil engineers to detect and survey underground utilities before construction.

Using dictionary learning for clutter reduction in GPR B-scan images

ABSTRACT Ground-penetrating radar (GPR) has been widely used to detect subsurface objects. However, the target reflection experiences interference owing to clutter, such as direct coupling, interface reflection, and other undesired reflections. Reducing such clutter is a valuable processing step to improve detection accuracy. This letter proposes a GPR clutter reduction algorithm based on dictionary learning (DL). DL learns an adaptive dictionary that can sparsely represent the GPR B-scan image and enable clutter suppression. The learned dictionary atoms are divided into target atoms and clutter atoms, the target component and the clutter component can be reconstructed using these two types of dictionary atoms, respectively. The performance of the proposed algorithm is validated using both simulation data and real GPR data. The results of the visual evaluation and quantitative analysis demonstrate that the proposed algorithm outperforms the existing clutter reduction algorithms.