# A Skeleton-based Approach For Rock Crack Detection Towards A Climbing Robot Application

arXiv: https://arxiv.org/abs/2309.05139 · HTML: https://mlsanity.com/paper/2309.05139/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 14 of its 41 references that are in the map.
- First posted on arXiv 10 Sep 2023.

## Builds on (most cited first, 14 of 14)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
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- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [UNet++: A Nested U-Net Architecture for Medical Image Segmentation](https://mlsanity.com/paper/1807.10165/) (2018)
- [Unified Perceptual Parsing for Scene Understanding](https://mlsanity.com/paper/1807.10221/) (2018)
- [UNet 3+: A Full-Scale Connected UNet for Medical Image Segmentation](https://mlsanity.com/paper/2004.08790/) (2020)
- [SPNet: A novel deep neural network for retinal vessel segmentation based on shared decoder and pyramid-like loss](https://mlsanity.com/paper/2202.09515/) (2022)
- [Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission](https://mlsanity.com/paper/2210.11534/) (2022)
- [ReachBot: A Small Robot for Large Mobile Manipulation Tasks](https://mlsanity.com/paper/2110.10829/) (2021)
- [Motion Planning for a Climbing Robot with Stochastic Grasps](https://mlsanity.com/paper/2209.10687/) (2022)

## Abstract (arXiv)

Conventional wheeled robots are unable to traverse scientifically interesting, but dangerous, cave environments. Multi-limbed climbing robot designs, such as ReachBot, are able to grasp irregular surface features and execute climbing motions to overcome obstacles, given suitable grasp locations. To support grasp site identification, we present a method for detecting rock cracks and edges, the SKeleton Intersection Loss (SKIL). SKIL is a loss designed for thin object segmentation that leverages the skeleton of the label. A dataset of rock face images was collected, manually annotated, and augmented with generated data. A new group of metrics, LineAcc, has been proposed for thin object segmentation such that the impact of the object width on the score is minimized. In addition, the metric is less sensitive to translation which can often lead to a score of zero when computing classical metrics such as Dice on thin objects. Our fine-tuned models outperform previous methods on similar thin object segmentation tasks such as blood vessel segmentation and show promise for integration onto a robotic system.