Relative Position and Posture Measurement Using Projected Markers

Abstract

In recent years, demand for UAVs has been increasing in various situations such as aerial photography, infrastructure inspections of bridges, and logistics. In this study, we focus on bridge inspections in non-GPS environments and propose a measurement method using a projected marker and camera that enables self-position estimation. This measurement method aims to solve the problem of the large measurement error of position and posture as the shooting distance increases by using "laser parallelism correction". Experiments were conducted using a measurement unit consisting of a laser pointer, a camera, and a projection plane, and image processing software was used to analyze the captured images. The experiment was conducted by measuring the position of the projection plane at several shooting distances and changing the posture of the projection plane at each shooting distance to measure the posture. As a result, we succeeded in reducing the measurement error, which had been a problem in previous studies, by using laser parallelism correction, and confirmed the effectiveness of this method.