Proposal of Position and Orientation Measurement Method for UAV Using Projection Markers

Abstract

The life span of bridges is thought to be about 50 years, and in recent years these social infrastructures have seriously deteriorated and have become a social problem. Development and introduction of existing and new robot technologies are being promoted as a policy for this social infrastructure aging problem. This research proposes a relative position measurement system that can be used with an infrastructure inspection robot. In particular, in order to solve autonomous control under non-GPS environment, which is a technical issue of UAV, position and orientation measurement using image information is performed using projection markers. The main aim of this study is to develop a system for autonomous movement by estimating the self-position and posture using projection markers.