Measuring the Characteristics of Pavement Surface Images (2024)

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2024 N A T I O N A L C O O P E R A T I V E H I G H W A Y R E S E A R C H P R O G R A M NCHRP RESEARCH REPORT 1106 Measuring the Characteristics of Pavement Surface Images Yichang (James) Tsai Ryan Salameh Pingzhou (Lucas) Yu Zhongyu Yang Yung-an Hsieh Georgia Institute of Technology Atlanta, GA Jason Nelson Auburn University Auburn, AL Subscriber Categories Highways • Maintenance and Preservation • Pavements Research sponsored by the American Association of State Highway and Transportation Ofcials in cooperation with the Federal Highway Administration

NATIONAL COOPERATIVE HIGHWAY RESEARCH PROGRAM Systematic, well-designed, and implementable research is the most effective way to solve many problems facing state departments of transportation (DOTs) administrators and engineers. Often, highway problems are of local or regional interest and can best be studied by state DOTs individually or in cooperation with their state universities and others. However, the accelerating growth of highway transporta- tion results in increasingly complex problems of wide interest to high- way authorities. These problems are best studied through a coordinated program of cooperative research. Recognizing this need, the leadership of the American Association of State Highway and Transportation Officials (AASHTO) in 1962 ini- tiated an objective national highway research program using modern scientific techniques—the National Cooperative Highway Research Program (NCHRP). NCHRP is supported on a continuing basis by funds from participating member states of AASHTO and receives the full cooperation and support of the Federal Highway Administration (FHWA), United States Department of Transportation, under Agree- ment No. 693JJ31950003. The Transportation Research Board (TRB) of the National Academies of Sciences, Engineering, and Medicine was requested by AASHTO to administer the research program because of TRB’s recognized objectivity and understanding of modern research practices. TRB is uniquely suited for this purpose for many reasons: TRB maintains an extensive com- mittee structure from which authorities on any highway transportation subject may be drawn; TRB possesses avenues of communications and cooperation with federal, state, and local governmental agencies, univer- sities, and industry; TRB’s relationship to the National Academies is an insurance of objectivity; and TRB maintains a full-time staff of special- ists in highway transportation matters to bring the findings of research directly to those in a position to use them. The program is developed on the basis of research needs iden- tified by chief administrators and other staff of the highway and transportation departments, by committees of AASHTO, and by the FHWA. Topics of the highest merit are selected by the AASHTO Special Committee on Research and Innovation (R&I), and each year R&I’s recommendations are proposed to the AASHTO Board of Direc- tors and the National Academies. Research projects to address these topics are defined by NCHRP, and qualified research agencies are selected from submitted proposals. Administration and surveillance of research contracts are the responsibilities of the National Academies and TRB. The needs for highway research are many, and NCHRP can make significant contributions to solving highway transportation problems of mutual concern to many responsible groups. The program, however, is intended to complement, rather than to substitute for or duplicate, other highway research programs. Published research reports of the NATIONAL COOPERATIVE HIGHWAY RESEARCH PROGRAM are available from Transportation Research Board Business Office 500 Fifth Street, NW Washington, DC 20001 and can be ordered through the Internet by going to https://www.mytrb.org/MyTRB/Store/default.aspx Printed in the United States of America NCHRP RESEARCH REPORT 1106 Project 01-60 ISSN 2572-3766 (Print) ISSN 2572-3774 (Online) ISBN 978-0-309-70967-5 Library of Congress Control Number 2024934542 © 2024 by the National Academy of Sciences. National Academies of Sciences, Engineering, and Medicine and the graphical logo are trade- marks of the National Academy of Sciences. All rights reserved. COPYRIGHT INFORMATION Authors herein are responsible for the authenticity of their materials and for obtaining written permissions from publishers or persons who own the copyright to any previously published or copyrighted material used herein. Cooperative Research Programs (CRP) grants permission to reproduce material in this publication for classroom and not-for-profit purposes. Permission is given with the understanding that none of the material will be used to imply TRB, AASHTO, APTA, FAA, FHWA, FTA, GHSA, or NHTSA endorsement of a particular product, method, or practice. It is expected that those reproducing the material in this document for educational and not-for-profit uses will give appropriate acknowledgment of the source of any reprinted or reproduced material. For other uses of the material, request permission from CRP. NOTICE The research report was reviewed by the technical panel and accepted for publication according to procedures established and overseen by the Transportation Research Board and approved by the National Academies of Sciences, Engineering, and Medicine. The opinions and conclusions expressed or implied in this report are those of the researchers who performed the research and are not necessarily those of the Transportation Research Board; the National Academies of Sciences, Engineering, and Medicine; the FHWA; or the program sponsors. The Transportation Research Board does not develop, issue, or publish standards or spec- ifications. The Transportation Research Board manages applied research projects which provide the scientific foundation that may be used by Transportation Research Board sponsors, industry associations, or other organizations as the basis for revised practices, procedures, or specifications. The Transportation Research Board; the National Academies of Sciences, Engineering, and Medicine; and the sponsors of the National Cooperative Highway Research Program do not endorse products or manufacturers. 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e National Academy of Sciences was established in 1863 by an Act of Congress, signed by President Lincoln, as a private, non- governmental institution to advise the nation on issues related to science and technology. Members are elected by their peers for outstanding contributions to research. Dr. Marcia McNutt is president. e National Academy of Engineering was established in 1964 under the charter of the National Academy of Sciences to bring the practices of engineering to advising the nation. Members are elected by their peers for extraordinary contributions to engineering. Dr. John L. Anderson is president. e National Academy of Medicine (formerly the Institute of Medicine) was established in 1970 under the charter of the National Academy of Sciences to advise the nation on medical and health issues. Members are elected by their peers for distinguished contributions to medicine and health. Dr. Victor J. Dzau is president. e three Academies work together as the National Academies of Sciences, Engineering, and Medicine to provide independent, objective analysis and advice to the nation and conduct other activities to solve complex problems and inform public policy decisions. e National Academies also encourage education and research, recognize outstanding contributions to knowledge, and increase public understanding in matters of science, engineering, and medicine. Learn more about the National Academies of Sciences, Engineering, and Medicine at www.nationalacademies.org. e Transportation Research Board is one of seven major program divisions of the National Academies of Sciences, Engineering, and Medicine. e mission of the Transportation Research Board is to mobilize expertise, experience, and knowledge to anticipate and solve complex transportation-related challenges. e Board’s varied activities annually engage about 8,500 engineers, scientists, and other transportation researchers and practitioners from the public and private sectors and academia, all of whom contribute their expertise in the public interest. e program is supported by state transportation departments, federal agencies including the component administrations of the U.S. Department of Transportation, and other organizations and individuals interested in the development of transportation. Learn more about the Transportation Research Board at www.TRB.org.

C O O P E R A T I V E R E S E A R C H P R O G R A M S AUTHOR ACKNOWLEDGMENTS We would like to thank the Georgia Tech research team members that contributed to this project including Dr. Zhaohua Wang, Tianqi Liu, and Marius Francois-Marchal, as well as the National Center for Asphalt Technology personnel who supported the testing and data collection efforts. We would also like to acknowledge the following vendors and manufacturers of 3D scanning systems that have collaborated with the research team on this project including FARO, Pavemetrics, Pathway Services Inc., Ames Engi- neering, International Cybernetics, Mandli Communications, Michael Baker International, and Strategic 3D Solutions Inc. A special thanks to Andy Mergenmeier, Senior Pavement and Materials Engineer at FHWA Resource Center Pavement and Materials Team (HIT-RC), for providing valuable input throughout the project. We would also like to thank Dr. Jenny Li, Pavement Asset Management Section Director at the Texas Department of Transportation, for providing the test site and data to support this study with the help of Quality Engineering Solutions. We would also like to thank Dr. John Ferris and Dr. Yaxiong (Robin) Huang for their valuable input on this project. CRP STAFF FOR NCHRP RESEARCH REPORT 1106 Waseem Dekelbab, Deputy Director, Cooperative Research Programs, and Manager, National Cooperative Highway Research Program Christopher T. McKenney, Senior Program Officer Sheila A. Moore, Program Associate Natalie Barnes, Director of Publications Heather DiAngelis, Associate Director of Publications NCHRP PROJECT 01-60 PANEL Field of Design—Area of Pavements Edgardo D. Block, Connecticut Department of Transportation, Newington, CT (Chair) Bouzid Choubane, Michigan State University, East Lansing, MI Dave L. Huft, South Dakota Department of Transportation, Pierre, SD Jianhua Li, Washington State Department of Transportation, Issaquah, WA Kevin K. McGhee, Virginia Transportation Construction Alliance, Oak Park, VA Brendan Tran Morris, University of Nevada, Las Vegas, Las Vegas, NV Daniel Radanovich, Ohio Department of Transportation, Columbus, OH Andy Mergenmeier, FHWA Liaison Stephen F. Maher, TRB Liaison

NCHRP Research Report 1106: Measuring the Characteristics of Pavement Surface Images presents a state-of-the-art update of methods for measuring and evaluating the charac- teristics of pavement surface images collected by 3-dimensional pavement imaging systems. The development of this update was based on an analytic approach categorizing specific performance metrics that were applied through comprehensive laboratory and field inves- tigations. This update will be of immediate interest to design and pavement engineers. Imaging systems are commonly used for conducting pavement evaluations. The AASHTO Standard Practice for Collecting Images of Pavement Surfaces for Distress Detection (AASHTO Designation: PP 68) addresses the collection of images. However, there are no widely accepted methods for measuring the characteristics of pavement surface images (e.g., 2-dimensional optical images and 3-dimensional surface elevation images). There are also no widely accepted AASHTO standard practices for the calibration, certification, and verification of such images. Research was needed to identify the characteristics of surface images that are essential for pavement evaluation and to develop methods for measuring these characteristics and recommended standard practices for implementing these methods. This information will help state departments of transportation better evaluate image data collection systems and improve the process of pavement condition evaluation. Under NCHRP Project 01-60, “Measuring the Characteristics of Pavement Surface Images and Developing Standard Practices for Calibration, Certification, and Verification of Imag- ing Systems,” the Georgia Institute of Technology was asked to (1) identify and develop methods for measuring the characteristics of surface images used for pavement evaluation and analysis, and (2) prepare draft language for recommended practices for the calibration, certification, and verification of such images for consideration by AASHTO. F O R E W O R D By Christopher T. McKenney Staff Officer Transportation Research Board

1 Summary 2 Chapter 1 Introduction 3 1.1 Research Objectives 3 1.2 Report Organization 5 Chapter 2 Research Methodology and Framework 5 2.1 Four Analysis Categories for Measuring Pavement Surface Image Characteristics 5 2.2 Developed Assessment Methodologies 7 2.3 Developed Analyses 12 2.4 Research Framework and Plan 15 Chapter 3 Reference Object Assessment Methodology 15 3.1 Reference Objects Design Considerations 16 3.2 Reference Objects Manufacturing 18 3.3 Data Collection and Reporting 19 3.4 Data Processing 21 3.5 Data Analysis 24 3.6 Summary 25 Chapter 4 Field Pavement Assessment Methodology 25 4.1 Data Collection and Reporting 29 4.2 Data Processing 30 4.3 Data Analysis 33 4.4 Summary 34 Chapter 5 Development of Standard Practices for Assessment of 3D Pavement Imaging Systems 34 5.1 Standards for Major Assessment Methodologies 35 5.2 Standards for Supporting Methods 38 Chapter 6 Case Study 38 6.1 Case Study for Reference Object Assessment 44 6.2 Case Study for Field Pavement Assessment 51 Chapter 7 Establishing the Relationship Between Pavement Image Quality and Cracking Distress Measurement Accuracy 52 7.1 Tuning SSIM Coefficients 55 7.2 Comparing and Selecting the Best IQIs 55 7.3 Determining the IQI Acceptance Threshold 56 7.4 Case Study Using Limited Pavement Image Data C O N T E N T S

64 Chapter 8 Conclusions and Proposals for Future Implementation 64 8.1 Conclusions 64 8.2 Proposals for Future Implementation Efforts 67 Bibliography and References A-1 Appendix A Literature Review B-1 Appendix B Reference Object Design and Manufacturing Overview C-1 Appendix C Evaluating 3D Printing for Manufacturing Reference Objects D-1 Appendix D Evaluation of Crack Annotation Procedure E-1 Appendix E Artificial Image Quality Degradation Methods