Image position measurement of the omnidirectional camera using marker

Recently, UAV is widely used in various fields. Generally, measurement with the camera on a UAV is limited to one direction. A wider range of measurement is possible by using an omnidirectional camera. However, measurement with an omnidirectional camera is applicable only on fixed height. In previous research, distance measurement is made possible despite the height changes. However, since only horizontal distance is measureable, posture measurement is also needed. Relative position between targeted object and posture of the camera can be measured from the distance information and coordinates obtained from the captured image from an omnidirectional camera. Therefore, in this paper, markers-based relative position posture measurement technique is proposed. Measurement technique by using omnidirectional camera carried by UAV is developed.