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5247.68 l 3325.18 5247.71 l 3326.46 5244.72 l 3326.45 5244.76 l 3327.79 5241.8 l 3327.77 5241.84 l 3329.17 5238.93 l 3329.15 5238.96 l 3330.61 5236.1 l 3330.59 5236.13 l 3330.65 5236.01 l 3327.46 5234.3 l h 3317.55 5258 m 3317.28 5258.84 l 3316.3 5262.06 l 3315.39 5265.32 l 3314.55 5268.62 l 3313.77 5271.95 l 3313.72 5272.2 l 3317.27 5272.95 l 3317.32 5272.71 l 3317.31 5272.75 l 3318.08 5269.46 l 3318.07 5269.5 l 3318.91 5266.24 l 3318.89 5266.28 l 3319.79 5263.06 l 3319.79 5263.09 l 3320.75 5259.91 l 3320.73 5259.95 l 3321 5259.13 l 3317.55 5258 l h 3311.74 5283.02 m 3311.38 5285.57 l 3310.96 5289.05 l 3310.62 5292.56 l 3310.34 5296.09 l 3310.26 5297.62 l 3313.89 5297.82 l 3313.97 5296.31 l 3313.97 5296.35 l 3314.23 5292.86 l 3314.23 5292.89 l 3314.57 5289.43 l 3314.57 5289.47 l 3314.98 5286.03 l 3314.98 5286.07 l 3315.34 5283.54 l 3311.74 5283.02 l f Q q 3301.64 4900.8 305.563 79.1133 re W* n 0.75 0.67969 0.66992 0.90234 k q 10 0 0 10 0 0 cm BT /R51 6.82833 Tf 1 0 0 1 342.348 491.716 Tm [ <0026> -18.5063 <0055> 0.96894 <00440046> 1.28 <004e> ] TJ -8.80898 0 Td <0044> Tj /R55 6.82833 Tf 5.61641 0 Td [ <00030003> 794.835 <000c> 1217.64 <000b> ] TJ ET Q Q q 3795.19 4900.8 853.902 78.75 re W* n 0.75 0.67969 0.66992 0.90234 k q 10 0 0 10 0 0 cm BT /R51 6.54962 Tf 1 0 0 1 435.962 491.969 Tm [ <0052> 5.6957 <0056> 4.79363 <0048> 5.99391 <0047> 5.63606 <0003> 4.15995 <0055> 40.6378 <0048> 5.99391 <0045> 5.63606 <0044> 5.6957 <0055> ] TJ -31.9074 0 Td [ <004c> 3.95121 <0051> 5.63606 <004a> 5.63606 <0003> 4.15995 <005a> 8.6852 <004c> 3.95121 <0057> 3.95121 <004b> ] TJ -23.9555 0 Td [ <000b> 5.15521 <0045> 5.6957 <000c> 5.15521 <0003> 4.10031 <0003> -13.1955 <0036> -12.9122 <0053> 5.6957 <0044> 5.63606 <004f> 3.95121 <004f> ] TJ /R55 6.54962 Tf 45.7973 0 Td [ <0048> 3.42935 <005b> 5.6957 <0053> ] TJ ET Q Q q 4678.48 4900.8 725.074 79.1133 re W* n 0.75 0.67969 0.66992 0.90234 k q 10 0 0 10 0 0 cm BT /R51 6.54962 Tf 1 0 0 1 537.194 491.988 Tm <000c> Tj -45.1938 0 Td [ <004c> 3.89157 <0051> 5.6957 <004a> 5.63606 <000b> ] TJ -23.5531 0 Td [ <000b> 5.15148 <0046> 5.99391 <000c> 5.15148 <0003> 4.15995 <0003> -13.1955 <0036> -12.9122 <0053> 5.63606 <0044> 5.63606 <004f> 3.95121 <004f> ] TJ /R55 6.54962 Tf 62.3051 0 Td [ <0052> 5.63606 <0051> ] TJ -28.2715 0 Td [ <0027> -11.2274 <0048> 3.42935 <004f> 3.95121 <0044> 3.42935 <0050> 7.02271 <004c> 3.95121 <0051> 5.63606 <0044> 3.42935 <0057> 3.95121 <004c> ] TJ ET Q Q q 10 0 0 10 0 0 cm BT /R29 8.966 Tf 1 0 0 1 308.862 469.159 Tm [ (Figure) -269.979 (1\056) -269.998 (This) -269.012 (paper) -270.009 (only) -270.014 (concerns) -269.992 (the) -269.007 (crack\050a\051\054) -274.992 (spalling) -270.031 (with) -269.012 (e) 14.9926 (x\055) ] TJ 10.959 TL T* [ (posed) -256.993 (rebar\050b\051\054) -259.019 (and) -257.001 (pure) -256.985 (spalling\050c\051) -257.015 (three) -257.004 (kinds) -257.004 (of) -257.009 (concrete) -256.977 <0361> 14.9872 (ws\056) ] TJ T* [ (The) -380 (condition) -380.986 (states) -380.016 (of) -381.005 (thes) 1.01294 (e) -380.991 <0361> 14.9872 (ws) -380.005 (consist) -380.98 (of) -380 (CS1) -379.995 (\050good\051\054) -412.981 (CS2) ] TJ T* [ (\050f) 10.0069 (air\051\054) -249.992 (CS3) -249.992 (\050poor\051\054) -250.003 (and) -249.987 (CS4) -249.992 (\050se) 25.0131 (v) 15.009 (ere\051) -249.995 (four) -250.006 (de) 15.0144 (grees\056) ] TJ /R29 9.963 Tf 32.1609 TL T* [ (and) -230.986 (record) -230.991 (inf) 0.99489 (o) -0.99489 (r) 0.98999 (mation) -230.984 (of) -231.016 (condition) -231.011 (state) -229.987 (\050CS\051\056) -231.021 (Such) -230.991 (CS) -231.011 (in\055) ] TJ 11.9551 TL T* [ (cluding) -322.019 (Spall) -322.017 (\050delamination\054) -340.003 (patched) -321.997 (area\051\054) -340.993 (e) 14.992 (xposed) -321.992 (rebar) 39.9868 (\054) ] TJ T* [ (cracking\054) -376 (abrasion) -350.991 (\050W) 79.9932 (ear\051\054) -376.02 (and) -351 (damage) -349.991 (etc) -351.02 (\050see) -351.006 (in) -351.02 (Fig\0561\051\056) ] TJ T* [ (Our) -232.003 (moti) 25.0022 (v) 25 (ation) -232.989 (is) -231.991 (to) -233.006 (de) 24.9752 (v) 15.0018 (elop) -232.025 (the) -232.991 (automatic) -231.996 (inspection) -233 (using) ] TJ T* [ (a) -252.012 (visual) -251.982 (camera) -251.997 (and) -250.982 (associate) -251.982 (with) -252.012 (visual) -251.982 (positioning) -252.016 (infor) 20.0057 (\055) ] TJ 11.9563 TL T* [ (mation) -250 (to) -249.983 (enable) -249.995 (lar) 17.9987 (ge\055scale) -250.017 (metric) -249.987 (encoding\056) ] TJ 11.9551 -12.1207 Td [ (V) 60.0194 (isual) -408.994 (inspection) -409.986 (approach) -409.018 (has) -408.994 (been) -409.994 (pro) 14.9969 (v) 15.0018 (ed) -409.013 (to) -409.008 (be) -409.994 (the) ] TJ -11.9551 -11.9551 Td [ (most) -338.018 (easy) -338.994 (access) -337.989 (and) -339.003 (ef) 25 (fecti) 25.0095 (v) 15.0018 (e) -337.994 (w) 9.99303 (ay) -338.008 (since) -339.013 (last) -338.013 (century) -339.013 (\1331\135\056) ] TJ 11.9551 TL T* [ (perform) -473.02 (inspection) -472.013 (in) -472.995 (the) -472.98 (pix) 15.0067 (el) -471.986 (le) 25.0095 (v) 15.0018 (el) -473.005 (due) -473.015 (to) -472.015 (the) -472.98 (f) 10.0077 (act) -472.995 (of) ] TJ T* [ (lacking) -353.003 (odometry) -352.015 (information\056) -618.019 (V) 60.0219 (isual) -353.005 (positioning) -353.015 (\050V) 59.9925 (isual) ] TJ T* [ (Odometry) -380.982 (or) -382.004 (SLAM\051) -380.982 (has) -381 (been) -382 (heated) -380.99 (studied) -380.99 (since) -381.985 (EKF) ] TJ 11.9563 TL T* [ (mono\055SLAM) -326.013 (research) -326.008 (\1336\135\054) -345.007 (and) -325.986 (later) -326.016 (the) -327.011 (pure) -326.016 (optimization) ] TJ 11.9547 TL T* [ (based) -408.994 (SLAM) -408.986 (with) -408.018 (motion) -409.013 (assumption) -409.013 (\133) -409.004 (\13314\135) -408.984 (enables) -408.999 (the) ] TJ T* [ (possibility) -201.017 (of) -200.983 (real\055time) -201.015 (processing\056) -294.003 (ORB\055SLAM) -200.988 (\13319\135) -200.988 (which) ] TJ T* [ (deplo) 9.98813 (ys) -476.012 (Bag) -476.019 (of) -475.985 (W) 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