Japan currently faces the problem of deterioration of infrastructure such as roads and buildings that were constructed during a period of rapid growth after World War II. Decrepit infrastructure can lead to accidents and disasters. However, maintenance and repair of such infrastructure is expensive. This makes it important to reduce the cost of these operations. In addition, because of vehicle tra ffi c and changes in the environment temperature, roads expand / shrink and crack, leading to potholes. Without repair, potholes can expand gradually and may lead to accidents. To prevent such accidents, it is necessary that roads are inspected and diagnosed to detect cracks and potholes early and repair them. However, currently, road inspection is primarily a visual inspection method, which is time consuming and expensive to perform. If road inspection can be automated using a ff ordable sensors, time and money can be saved. Moreover, vehicles can be equipped with sensors to collect data of the road status, which can be used to create road surface maps that show the location and size of cracks and potholes. This paper focuses on applying a road inspection method using range image sensors to greatly reduce inspection costs. Specifically, the results of the map of a simulated road with features and the e ff ectiveness of the method are reported.