抄録
This study is a proposal of small UAV (Unmanned Aerial Vehicle) localization technique in GPS (Global Positioning System)-denied indoor environment using dropping type AR (Augmented Reality) markers. For the in-door flight of UAV, self-localization is important. However, most of localization techniques are computationally expensive, such as SLAM (Simultaneous Localization and Mapping), and it requires high-performance on-board computers. Thus, it is appropriate for UAV localization to use augmented reality system because of low-calculation-cost. To clarify the possibilities of AR systems for indoor UAV localization, we implemented an on-board AR system, mounted a dropping device of AR markers, and implemented a localization method on a small multi-rotor UAV. Evaluation tests clarified the advantages and issues of the localization technique.
