A system and method for vehicle-centric infrastructure monitoring system includes an inspection system mountable on a vehicle configured to travel over an expanse of rail track having a plurality of track blocks. The inspection system acquires track data for at least some track blocks along the expanse of rail track. The monitoring system also includes a positioning system to determine a location of the vehicle and generate location data indicative of an associated track block location, a communications device to transmit the track/location data to a remote location, and a centralized computing system positioned at the remote location to receive the transmitted track/location data. The centralized computing system is programmed to determine a current probability of a track condition for a track block and combine the current track condition probability with a previously determined cumulative track condition probability to provide an updated track condition probability for the track block.