Abstract
We have been developing the MAV with a passive rotating spherical shell for bridge inspection. However, there are issues such that the spherical shell occludes the environment in the on-board camera image, and can be hit by the hammering machine. Therefore, this paper proposes a method to estimate the rotation state of the passive rotating spherical shell with a on-board camera image. To realize it, we evaluated spherical shell recognition performance of feature point detectors, and made the rotation model of spherical shell.
