Integrating robotics and immersive technologies for automated structural monitoring

Advancements in sensing and visualization technologies are enabling new approaches for the remote assessment of structural integrity. This paper presents the preliminary results of a research project aimed at developing a framework for immersive and automated inspection of structures using a combination of Virtual Reality (VR), LiDAR mapping, and drone-based image acquisition. The proposed methodology is structured in two main phases. First, a high-resolution point cloud of the structure is acquired using a LiDAR sensor, imported into a simulation engine (e.g., Unity), and visualized in VR. Inspectors can explore the environment with a VR headset, simulating an on-site inspection in a safe and controlled setting. In the second phase, Micro Aerial Vehicles (MAVs) equipped with a camera perform periodic visual inspections, providing images both for autonomous navigation and for detecting cracks, monitoring damage evolution, and identifying structural anomalies over time. These images are then integrated into the VR environment, where the operator can request updated data for targeted monitoring, early warning, and proactive maintenance strategies. The methodology has been tested on a masonry church affected by significant cracks, demonstrating its potential for heritage preservation while enhancing safety by reducing the need for direct access to hazardous areas and improving inspection efficiency through automation and immersive visualization.