{"id":"https://openalex.org/W4413925896","doi":"https://doi.org/10.1109/icra55743.2025.11127758","title":"Lightweight Yet High-Performance Defect Detector for Uav-Based Large-Scale Infrastructure Real-Time Inspection","display_name":"Lightweight Yet High-Performance Defect Detector for Uav-Based Large-Scale Infrastructure Real-Time Inspection","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925896","doi":"https://doi.org/10.1109/icra55743.2025.11127758"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075642558","display_name":"Benyun Zhao","orcid":"https://orcid.org/0009-0008-7298-2927"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Benyun Zhao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101713021","display_name":"Qigeng Duan","orcid":"https://orcid.org/0000-0002-7149-7232"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qigeng Duan","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028540536","display_name":"Guidong Yang","orcid":"https://orcid.org/0000-0001-5419-5673"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Guidong Yang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057138351","display_name":"Jerry Tang","orcid":"https://orcid.org/0000-0002-4863-354X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerry Tang","raw_affiliation_strings":["University of California Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102396886","display_name":"Zhenbo Song","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenbo Song","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology,Nanjing,Jiangsu,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology,Nanjing,Jiangsu,China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040021240","display_name":"Junjie Wen","orcid":"https://orcid.org/0000-0002-2230-8933"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junjie Wen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103120117","display_name":"Xuchen Liu","orcid":"https://orcid.org/0009-0008-9076-4819"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xuchen Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101693183","display_name":"Qingxiang Li","orcid":"https://orcid.org/0000-0003-3745-5415"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qingxiang Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381351","display_name":"Lei Lei","orcid":"https://orcid.org/0000-0002-3630-3359"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lei Lei","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078507809","display_name":"Jihan Zhang","orcid":"https://orcid.org/0009-0004-2773-1361"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jihan Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329943","display_name":"Xi Chen","orcid":"https://orcid.org/0000-0002-3941-8442"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009591368","display_name":"Mark W. Mueller","orcid":"https://orcid.org/0000-0002-0557-5677"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Mueller","raw_affiliation_strings":["University of California Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ben M. Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Aalborg, Shatin, N.T.,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":13,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3936,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81762169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"13675","last_page":"13682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12169","display_name":"Non-Destructive Testing Techniques","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6302111744880676},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5068781971931458},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.50326007604599},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.48845258355140686},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.44727757573127747},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11117041110992432},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0768110454082489}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6302111744880676},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5068781971931458},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.50326007604599},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.48845258355140686},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.44727757573127747},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11117041110992432},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0768110454082489},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5431651955","display_name":null,"funder_award_id":"14206821,14217922,14209623","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"}],"funders":[{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W845365781","https://openalex.org/W1901129140","https://openalex.org/W2037227137","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2325975990","https://openalex.org/W2899242765","https://openalex.org/W2952122856","https://openalex.org/W2962858109","https://openalex.org/W2980490246","https://openalex.org/W3114626444","https://openalex.org/W3116271762","https://openalex.org/W3133648073","https://openalex.org/W3138786441","https://openalex.org/W3163634295","https://openalex.org/W3184920661","https://openalex.org/W4211062512","https://openalex.org/W4226095742","https://openalex.org/W4293057111","https://openalex.org/W4301596289","https://openalex.org/W4385254037","https://openalex.org/W4385692497","https://openalex.org/W4386047745","https://openalex.org/W4386076539","https://openalex.org/W4386821992","https://openalex.org/W4389665794","https://openalex.org/W4389766452","https://openalex.org/W4390872550","https://openalex.org/W4391020102","https://openalex.org/W4392582003","https://openalex.org/W4394901894","https://openalex.org/W4400975923","https://openalex.org/W4401417427","https://openalex.org/W4402754006","https://openalex.org/W4403594650","https://openalex.org/W4404443013","https://openalex.org/W4405785844"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2366906938"],"abstract_inverted_index":{"Defect":[0],"diagnosis":[1],"in":[2,16,46,120,139,163],"urban":[3],"infrastructure":[4,32,146,167],"is":[5,180],"crucial":[6],"for":[7,37,165],"public":[8],"safety.":[9],"Traditional":[10],"manual":[11],"inspections":[12],"face":[13],"significant":[14,44],"challenges":[15,45],"terms":[17],"of":[18,50,62,128,135,161,196],"accuracy":[19],"and":[20,29,53,68,130,159,193],"cost-effectiveness.":[21],"In":[22],"this":[23],"paper,":[24],"we":[25,79,142,169],"propose":[26,80],"a":[27,83,136,144,171],"lightweight":[28,63],"hardware-friendly":[30],"large-scale":[31],"detector,":[33],"CUPID,":[34],"highly":[35],"suitable":[36,137],"unmanned":[38],"aerial":[39],"vehicles":[40],"(UAVs).":[41],"Given":[42],"the":[43,60,75,81,90,93,126,133,140,157,177,183,191,197],"automatically":[47],"detecting":[48],"defects":[49],"varying":[51],"intensity":[52],"size":[54],"within":[55],"complex":[56],"infrastructure,":[57],"along":[58],"with":[59,97],"tendency":[61],"models":[64],"to":[65,70,88,116,131,150,155,189],"lose":[66],"detail":[67],"fail":[69],"fully":[71],"capture":[72],"features":[73,105],"during":[74],"defect":[76,147],"extraction":[77],"process,":[78],"CUPID_Block,":[82],"multi-level":[84],"information":[85],"fusion":[86],"block":[87],"construct":[89],"backbone,":[91],"featuring":[92],"CUPID_Conv":[94],"module":[95],"equipped":[96],"our":[98],"proposed":[99,178],"CCA":[100],"(CrissCross":[101],"Attention).":[102],"Furthermore,":[103],"CUPID":[104,129,162,179],"an":[106],"auxiliary":[107],"training":[108],"branch":[109],"that":[110],"assimilates":[111],"lower":[112],"feature":[113],"maps,":[114],"helping":[115],"recover":[117],"details":[118],"lost":[119],"deeper":[121],"convolutional":[122],"layers.":[123],"To":[124],"verify":[125],"effectiveness":[127],"address":[132],"lack":[134],"dataset":[138],"community,":[141],"establish":[143],"multi-scenario":[145],"dataset,":[148],"CUBIT2024,":[149],"conduct":[151],"extensive":[152],"experiments.":[153],"Finally,":[154],"assess":[156],"efficiency":[158],"adaptability":[160],"UAV":[164],"online":[166],"inspection,":[168],"design":[170],"compact":[172],"autonomous":[173],"drone,":[174],"CU-Astro,":[175],"where":[176],"deployed":[181],"on":[182],"Jetson":[184],"Orin":[185],"NX":[186],"computer":[187],"onboard":[188],"evaluate":[190],"speed":[192],"power":[194],"consumption":[195],"inference.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
