In this study, a stable and high-speed vision-based self-position estimation method was proposed that improves upon the existing method of lane detection by recognizing the lighting facilities that are installed in tunnels on Japanese expressways where GNSS cannot be used. In addition, we proposed a method for inspecting multiple cracks at once by estimating the self-position with the successful rate 75% in the traveling direction by counting the lighting with the successful rate 99.85%. The effectiveness of the method was verified by capturing images of cracks in an actual tunnel. The proposed method will enable more frequent inspections for tunnel cracks that lead to flaking while maintaining infrastructure safety, reducing costs, and improving tunnel visual inspection flow efficiency.

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