| 摘要 |
PROBLEM TO BE SOLVED: To provide a tunnel interior inspecting apparatus which recognizes an obstacle in a more minute and exact manner during automatic monitoring thereof. SOLUTION: The tunnel interior inspecting apparatus is comprised of an inspection carriage 2 which autonomously travels in a tunnel 4, a camera 6 set on the inspection carriage 2, for picking up images of a road surface 8 in the tunnel 4, and an image processor 3 for recognizing the state of the road surface 8, based on the images picked-up by the camera 6. The camera 6 picks up a plurality of images at a plurality of locations different from each other, and the image processor recognizes the state of the road surface 8, based on the plurality of locations and the plurality of images, on a three-dimensional basis. |
