抄録
In Japan, the shortage of human resources due to the declining birthrate and aging population is becoming a social problem. Particularly in the security industry, the irregular working hours and associated risks are making it increasingly challenging to secure workers. This has led to a rise in use of security systems that utilize security cameras and drones. However, in factories and other buildings with a lot of equipment and intricate structures, there is the problem of blind spots caused by occlusion. This situation necessitates the use of automated drone patrols, and a problem arises when self-position estimation fails in areas where acquiring feature points is difficult, such as corridors. To solve these problems, in a previous study, we devised a technique for position estimation using a method that can calculate similarity based on changes in the distribution of color information across the entire image. In this study, we propose a method that can cope with environmental changes caused by object movement while combining feature point-based methods.
