Visual inspection procedures remain the primary method of infrastructure assessment throughout the USA, but their shortcomings are numerous. In addition to their widely acknowledged variability and subjectivity, the large scale of civil infrastructure systems presents expensive access and time requirements that constrain the frequency of visual inspections and result in poor temporal resolution, which hampers effective decision-making. To overcome this challenge, the research reported herein aimed to assess the ability of computer algorithms together with imagery collected by unmanned aerial vehicles (UAV) to extract accurate and quantitative information to help inform infrastructure management decisions. Techniques such as homography and lens distortion correction are used in this article in a post-processing framework that allows the use of color images obtained by UAVs for actual damage quantification measurements. The experiments described in this article utilize a UAV with a mounted camera and provide measurements from a representative infrastructure mockup with several simulated damage scenarios. Deformation measurements, change detection (related to structural features and the size of deterioration), and crack pattern identification were all analyzed. The results indicated that the developed post-processing algorithms were able to extract quantitative information from UAV captured imagery. Copyright © 2016 John Wiley & Sons, Ltd.