抄録
In order to prolong the life of an underdrain, it is necessary to detect cracks inside the underdrain. Therefore, the robot which detects the crack inside the underdrain has been developed. The existence of the crack inside an underdrain is judged by people using the picture acquired with the camera carried in the robot. Therefore, if there is a system which detects the crack of it automatically from the picture acquired with the camera is very effective. So, in this research, two or more pictures are acquired from monocular camera driven bv the robot arm first. and the method that detects cracks by parallax difference of these images is proposed. And the vatidity of the method proposed by experiment is shown.
