This paper focuses on the use of the Canny edge detector as the first step of an advanced imaging algorithm for automated detection of hyperbolic reflections in ground-penetrating radar (GPR) data. Since the imaging algorithm aims to work in real time; particular attention is paid to its computational efficiency. Various alternative criteria are designed and examined, to fasten the procedure by eliminating unnecessary edge pixels from Canny-processed data, before such data go through the subsequent steps of the detection algorithm. The effectiveness and reliability of the proposed methodology are tested on a wide set of synthetic and experimental radargrams with promising results. The finite-difference time-domain simulator gprMax is used to generate synthetic radargrams for the tests, while the real radargrams come from GPR surveys carried out by the authors in urban areas. The imaging algorithm is implemented in MATLAB.

This paper presents the results of a research study where ground penetrating radar (GPR) was successfully used to reveal the remains of the Württemberg-Stambol Gate in the subsurface of Republic Square, in Belgrade, Serbia. GPR investigations were carried out in the context of renovation works in the square, which involved rearranging traffic control, expanding the pedestrian zone, renewing the surface layer, and valorising existing archaeological structures. The presence of the gate remains was suggested by historical documents and information from previous restoration works. A pulsed radar unit was used for the survey, with antennas having 200- and 400-MHz central frequencies. Data were recorded over a grid and two three-dimensional models were built, one for each set of antennas. The grid was the same for both sets of antennas, therefore the two models could be compared. Several horizontal cross sections of the models were plotted, corresponding to different depths; these images were carefully examined and interpreted, paying particular attention to signatures that could originate from the sought archaeological structures. Reflections coming from the gate remains were identified in both models, in the same region of the survey area and at the same depth; the geometry, size, and layout of the gate columns, as well as of other construction elements belonging to the gate, were determined with very good accuracy. Based on the GPR findings, archaeological excavation works were carried out in the region where the foundation remains were estimated to be. The presence of the remains was confirmed, with various columns and side walls. This case study demonstrates and further corroborates the effectiveness and reliability of GPR for the non-invasive prospection of archaeological structures hidden in the heterogeneous subsurface of urban environments. In the opinion of the authors, GPR should be incorporated as a routine field procedure in construction and renovation projects involving historical cities.

In this paper several well-known filtering techniques were compared in the purpose of automatic line generalization. The used methods for line simplification are digital first order low-pass filter, Savitzky-Golay (SG) filter and...

Technology development enabled real-time monitoring of terrain and artificial structures through the use of the systems comprised of geodetic and geotechnical sensors. Although the structure and the architecture of those systems can vary, they have many common features: automated measurements which provide monitoring and alarming when tolerances are exceeded, systems robustness involving hot-swapping sensors, its redundancy and error detection. Also, they can be structured and configured to achieve desired functionality and performance. Generalized model of real-time deformation measurements, presented in this paper, involves these common characteristics. The model is presented as a flowchart, and later applied within an experiment carried out in laboratory environment. The established system includes geodetic and geotechnical sensors and measurements are done on a physical model of a landslide. Several functions included in generalized model were implemented in the experiment. Results show that system designed using the proposed model can provide required functionality, accuracy, robustness and configurability. Aim of the paper is to propose a general procedure which, with minor modifications, can be applied as a starting point in designing various systems for monitoring landslides, bridges, high buildings etc., and which overcomes some limitations that can be found in commercial software solutions.

In this paper the benefits of integration of UAV-mounted (Unmanned Aerial Vehicle) thermal camera and GPR (Ground Penetrating Radar) are analysed. As an example we analized a district heating pipeline in a part of university campus in Novi Sad. Thermal camera mounted on UAV enables fast mapping of routes. These data are then used to detect critical zones where leaking or some other problem occurs and to validate utility cadastral data. Detailed inspection of zones is done using GPR scanning. This provides data such as geometry, precise location of damage, etc. In the last section of the paper advantages of non-invasive detection of district heat line combining active and passive sensors with UAV are explained.

In this paper, the analysis of the dynamic load of the beam using geodetic and geotechnical sensors was performed. From the group of geodetic sensors, GPS/GNSS receivers were used, while from the group of geotechnical sensors, an accelerometer was used. The measurements were performed in laboratory conditions, and the experiment itself was designed so that the measurements from several series were independent of each other. For the experiment, a construction was made on which all sensors are mounted, which ensures their smooth operation in real time, as well as the setting of different loads. Based on the obtained measurement results, the analysis was performed and conclusions were drawn, as well as the directions of future development.