In recent years, functional disorder and road sinking caused by corrosion of sewer pipe have become serious problems in our country. A lot of practical surveys in the sewer pipe are currently carried out by using self-traveling vehicles with camera. However, this kind of survey method is expensive and requires arrangement in advance. Therefore, we focused on an investigation method by flying quadrotor helicopter what is called “drone”. In this research, we study simulation experiment of AR.Drone using ROS. First, we have constructed a simulation environment using ROS. Next, we have created the flight program. Finally, we have extracted feature points in sewer pipes.
