#

Name of Research Paper

Year

Publication/Typ
e

Pothole detection in asphalt

1 pavement images

Elsevier/

2 Vision for Road Inspection

Carnegie Mellon
University

Automated Pothole Distress

Assessment Using Asphalt
3 Pavement Video Data

ASCE

Intelligent Pothole Detection

4 System

International
Journal of
Emerging
Technology and
Advanced
Engineering

DETECTING POTHOLES USING

SIMPLE IMAGE PROCESSING
TECHNIQUES AND REAL-WORLD
5 FOOTAGE

Southern African
Transport
Conference (SATC
2015)

Image-Based Pothole Detection

System for ITS Service and Road
Management System

Pothole Detection with Image

Processing and Spectral
7 Clustering

POTHOLE DETECTION IN ROAD

8 USING IMAGE PROCESSING

BEST: IJMITE

Pothole detection and volume

estimation using stereoscopic
9 vision

KEYWORDS:

pothole

pothole detection

visual
techniques image processing

Camera model

Processor

Filtering techniques /
Pre-processing
techniques

a HP Elite Autofocus
Webcam

(Intel Core2 Quad

CPU, 2.40 GHz, 2 GB
ram

Median Filter (5x5)

Smartphone camera
(Samsung galaxy)

Intel i7 CPU, 8 GB
Ram

*Refer paper for

algorithm

1080p ; 10 Hz

60 seconds taken to
process image

Hewlett-Packard Elite
Autofocus webcam

Intel Core2 i7 CPU

M620 desktop PC
*Refer paper for
(2.67 GHz, 8 GB RAM) algorithm

Resolution: 640 480

pixels with a frame rate
of 30 frames/s.

Not Specified

Not Specified

Median Filter, High Pass

Filter

GoPro (model not

specified)

Gaussian Filter

Intel Core i5-4210U,

Resolution - 1270*720 ; 2.4GHz, 8GBRAM)
60 fps

HST, median filter

Not mentioned

Intensity normalization
(Contrast stretching)

Pixel saturation

Median filter, gaussian

filte

crack detection

Segmentation
techniques

HSB based on traingle

algorithm

No of
Sample
Shape extraction/
s
Comparsion
(Pothol
techniques
es)
Accuracy / Efficiency
Morphological erosion
folllowed by
connecting branching
points
70

Accuracy - 86% ;
Precision - 82%
Recall - 86%

*Refer paper for

*Refer paper for algorithm algorithm

TP - 31; FP-7; TN-72;

FN -5

*Refer paper for

*Refer paper for algorithm algorithm

Accuracy - 94 % ;
Precision - 75%

50

TP- 42 ; TN - 8 ; FP-14

Prewitt Edge Detection

1. Pixel Information
Calculation

15

93%

2. First order moment

(Mean)
15

100%

3. Second order
moment (Variance)

15

100%

4. Cross Co-relation
calculation

15

73%

Dilation after application

of Canny Edge Detection

Convex hull algorithm 112

Precision - 81%

TP-72; FN-24; FP-16

Sobel Edge detection

Ordered histogram
intersection

Otsu's algorithm

Spectral Clustering
( k-means algorithm) 50

Accuracy - 81%

Spectral Clustering
Dividing image into blocks ( k-means algorithm) 50

Accuracy - 76%

102

Accuracy - 73.5% ,
Precision - 80%
TP 44; FP-11 ;

Finding first and second

order moments
Otsu's algorithm

Soble edge detection 24

Accuracy - 83%

Problems / Limitations

the proposed method

assumes that only one
pothole enters the
viewport at a time

Vehicle cannot travel

faster than 40 Kmph

Remarks

Introduces pothole
tracking

Reference/LI
NK

1. Canny Edge Detection Can detect between 2m

is very strict.
to 20m area in front
2. Cannot detect
potholes on outer edge
of roads

Not mentioned

Cost effective

Name of Research Paper

Year

AN EFFICIENT ALGORITHM FOR POTHOLE DETECTION USING STEREO 2014

POTHOLE DETECTION AND VOLUME ESTIMATION USING STEREOSCOP2016

SURFACE POTHOLE DEPTH ESTIMATION USING STEREO MODE OF IMA2016

PAVEMENT DISTRESS EVALUATION USING 3D DEPTH INFORMATION FR2012

Automated Pavement Distress Survey through Stereovision

KEYWORDS:

Z. Hou, K. C. P. Wang and W. Gong. Experimentation of 3D

Pavement Imaging through Stereovision. ASCE, Int. Conf. on
Transportation Engineering, Vol. 246 pp. 376381, 2007.

L. Bursanescu and F. Blais. Automated Pavement Distress Data

Collection and Analysis: a 3-D Approach. IEEE, 3-D Digital Imaging
and Modeling, Int. Conf. on Recent Advances, pp. 311317, Ottawa,
Ontario, Canada, 1997.

2004

Publication/Type

IEEE International Conference on Acoustic, Speech and Signal Processing (ICASSP)

IRF International Conference,

IJARET

Michigan ohio university transportation center

NCHRP-IDEA

Camera model

Processor

Algorithm

2 Point GreyFlea 3

Disparity calcuation

Focal length - 2.8 mm,

aperture - F/1.2 , FOV 93.2x70.7

(matching cost
computation, controlled
search range)

Webcams placed at
distance of 6 cm

Median filter, gaussian

filter

Matlab 2016

Color composite image

Points matching
D = Ave( Sum ( (left)^2
- (Right)^2))

Camera calibration

No of
sample
s

Conversion between
disparity and
eucledian, surface
fitting

Accuracy /
Efficiency

Not mentined

Soble edge
detection followed
by erosion and
dilation

24

83.30%

Calculation of depth
Speeded up Robust Feusing disparity

3D surface
reconstruction

Median filter and

morphological
operations

97%

Harris Corner
detection,
interpolation

3D reconstruction

Not yet
implemented

Problems / Limitations

*Detailed information
given in paper

Remarks

Reference/LINK

http://mioh-utc.udmercy.edu/research/ts43/pdf/MIOH_UTC_TS43_2012Final_Rpt_Pavement_Distress_Evaluation_U
sing_3D_Depth_etc.pdf

http://onlinepubs.trb.org/onlinepubs/archive/studies/idea/finalreports/highway/NCHRP88_Final_Report.

Name of Research Paper

Use of a Thermal Camera during

Asphalt Pavement Construction

KEYWORDS:

Year

2009

Publication/Typ
e

Use of a Thermal Camera during Asphalt Pavemen

Camera model

Processor

Thermal Camera during Asphalt Pavement Construction

Filtering techniques /
Pre-processing
techniques

Segmentation
techniques

No of
Sample
Shape extraction/
s
Comparsion
(Pothol
techniques
es)
http://www.dot.nd.go
v/divisions/materials/r
esearch_project/ndsu
0801final.pdf

Accuracy /
Efficiency

Problems / Limitations

Remarks

Reference/LINK

Name of Research Paper

Year

Publication/Typ
e

Camera model

Pothole detection in asphalt

pavement images

Elsevier/

a HP Elite Autofocus
Webcam

Vision for Road Inspection

Carnegie Mellon
University/

Smartphone camera
(Samsung galaxy)
1080p ; 10 Hz

Automated Pothole Distress

Assessment Using Asphalt
Pavement Video Data

ASCE

Hewlett-Packard Elite
Autofocus webcam
Resolution: 640 480
pixels with a frame rate
of 30 frames/s.

Intelligent Pothole Detection

System

International
Journal of
Emerging
Technology and
Advanced
Engineering

Not Specified

DETECTING POTHOLES USING

SIMPLE IMAGE PROCESSING
TECHNIQUES AND REAL-WORLD
FOOTAGE

Southern African
Transport
Conference (SATC GoPro (model not
2015)
specified)

Image-Based Pothole Detection

System for ITS Service and Road
Management System

Resolution - 1270*720 ;
60 fps

Pothole Detection with Image

Processing and Spectral
Clustering

POTHOLE DETECTION IN ROAD

USING IMAGE PROCESSING

Pothole detection and volume

estimation using stereoscopic
vision

BEST: IJMITE

Processor

Filtering techniques /
Pre-processing
techniques

Segmentation
techniques

Shape extraction/
Comparsion
techniques

(Intel Core2 Quad

CPU, 2.40 GHz, 2 GB
ram
Median Filter (5x5)

HSB based on
traingle algorithm

Morphological erosion
folllowed by
connecting branching
points

Intel i7 CPU, 8 GB
Ram

*Refer paper for

algorithm

*Refer paper for

algorithm

*Refer paper for

algorithm

Intel Core2 i7 CPU

M620 desktop PC
(2.67 GHz, 8 GB
RAM)

*Refer paper for

algorithm

*Refer paper for

algorithm

*Refer paper for

algorithm

Not Specified

Median Filter, High Pass Prewitt Edge

Filter
Detection

60 seconds taken to
process image

1. Pixel Information
Calculation
2. First order moment
(Mean)
3. Second order
moment (Variance)
4. Cross Co-relation
calculation

Gaussian Filter

Dilation after
application of Canny
Edge Detection
Convex hull algorithm

HST, median filter

Sobel Edge
detection

Ordered histogram
intersection

Not mentioned

Otsu's algorithm

Spectral Clustering
( k-means algorithm)

Intensity normalization
(Contrast stretching)

Dividing image into

blocks

Spectral Clustering
( k-means algorithm)

Pixel saturation

Finding first and

second order
moments
Otsu's algorithm

Intel Core i5-4210U,

2.4GHz, 8GBRAM)

Median filter, gaussian

filte

Soble edge detection

No of
Sample
s
(Pothol
es)

70

Accuracy /
Efficiency

Problems /
Limitations

Remarks

Accuracy - 86%
; Precision 82%
Recall - 86%

TP - 31; FP-7;
TN-72; FN -5

50

Accuracy - 94
% ; Precision 75%

the proposed
method
assumes that
only one
pothole enters
the viewport at
a time
Introduces pothole tracking

TP- 42 ; TN - 8 ;
FP-14

15

93%

15

100%

15

100%

15

73%

Vehicle cannot
travel faster
than 40 Kmph

112

1. Canny Edge
Detection is
Precision - 81% very strict.

TP-72; FN-24;
FP-16

Can detect between 2m to

20m area in front

2. Cannot
detect potholes
on outer edge
of roads

102

Accuracy 73.5% ,
Precision - 80% Not mentioned
TP 44; FP-11 ;

50

Accuracy - 81%

50

Accuracy - 76%

24

Accuracy - 83%

Cost effective