MODULAR INFRASTRUCTURE INSPECTION PLATFORM

1 . A device, comprising:

a base infrastructure inspection unit; and

a plurality of sensor units attached to the base infrastructure inspection unit;

the base infrastructure inspection unit comprising:

a set of one or more processors; and

a memory device having code executable by the one or more processors to:

synchronize the plurality of sensor units;

capture, using the plurality of sensor units, two or more data streams comprising infrastructure inspection data;

combine the infrastructure inspection data with metadata indicating synchronization between respective ones of the plurality of sensor units; and

provide, using a network connection to a remote device, combined metadata and infrastructure inspection data for inclusion in a photorealistic image based on a three-dimensional model (3D) model of the infrastructure.

2 . The device of claim 1 , wherein to synchronize comprises using a synchronization trigger to capture the two or more data streams at alternating periods.

3 . The device of claim 2 , wherein to combine the infrastructure inspection data with metadata comprises including timing data, based on the synchronization trigger, in the metadata to produce time-referenced data of the two or more data streams.

4 . The device of claim 1 , wherein the plurality of sensor units comprises visual sensor units.

5 . The device of claim 1 , comprising one or more of a sonar unit, a lidar unit, and a laser profiler.

6 . The device of claim 4 , wherein:

the plurality of sensor units comprises two or more cameras disposed on the base infrastructure inspection unit such that overlapping views are obtained from the two or more cameras; and

to capture comprises capturing stereo-overlapping images from the two or more cameras.

7 . The device of claim 1 , comprising a delivery unit configured for attachment with the base infrastructure inspection unit.

8 . The device of claim 1 , wherein the delivery unit comprises one or more of a float system and a tractor system.

9 . The device of claim 1 , wherein one or more of the plurality of sensor units is reversibly attachable to the base infrastructure inspection unit.

10 . The device of claim 8 , wherein the delivery unit comprises a tractor unit having tracks that cover substantially the entire width of the tractor unit.

11 . A method, comprising:

synchronizing, using a set of one or more processors, a plurality of sensors disposed on a base infrastructure inspection unit;

capturing, using the plurality of sensors, two or more data streams comprising infrastructure inspection data;

accessing, using the set of one or more processors, a model of infrastructure corresponding to the infrastructure inspection data;

selecting, using the one or more processors, data of the plurality of sensors for inclusion in an output based on the model in a photorealistic image; and

outputting, using the one or more processors, the photorealistic image of the infrastructure comprising the image data selected.

12 . The method of claim 1 , wherein the synchronizing comprises:

using a synchronization trigger to capture the two or more data streams at alternating periods; and

using timing data associated with the two or more data streams to combine time-referenced data of the two or more data streams to produce a synchronized output.

13 . The method of claim 1 , wherein the capturing comprises capturing one or more of visual data, sonar data, and laser profiling data.

14 . The method of claim 1 , wherein:

the plurality of sensors comprise two or more cameras disposed on the base infrastructure inspection unit such that overlapping views are obtained from the two or more cameras; and

the capturing comprises capturing stereo-overlapping images from the two or more cameras.

15 . The method of claim 4 , comprising deriving distance information for one or more points within the stereo-overlapping images.

16 . The method of claim 1 , comprising associating the base infrastructure inspection unit with a delivery unit.

17 . The method of claim 1 , wherein the delivery unit comprises one or more of a float system and a tractor system.

18 . The method of claim 1 , comprising associating one or more of the plurality of sensors with the base infrastructure inspection unit.

19 . The method of claim 8 , wherein the associating comprises attaching the one or more of the plurality of sensors to the base infrastructure inspection unit.

20 . A system, comprising:

a base infrastructure inspection unit;

a delivery unit configured for attachment with the base infrastructure inspection unit;

a plurality of modular sensor units attached to the base infrastructure inspection unit; and

a server;

the base infrastructure inspection unit comprising:

a set of one or more processors; and

a memory device having code executable by the one or more processors to:

synchronize the plurality of sensor units;

capture, using the plurality of sensor units, two or more data streams comprising infrastructure inspection data;

combine the infrastructure inspection data with metadata indicating synchronization between respective ones of the plurality of sensor units; and

provide, using a network connection to a remote device, combined metadata and infrastructure inspection data;

the server being configured to:

select data of the plurality of sensors for inclusion in an output based on a model in a photorealistic image; and

output the photorealistic image of the infrastructure comprising the image data selected.