@article{M3DCC0B85,
title = "3-Dimensional Location and Posture Measurement Using Images for Drones",
journal = "The Journal of Korean Institute of Communications and Information Sciences",
year = "2025",
issn = "1226-4717",
doi = "10.7840/kics.2025.50.10.1588",
author = "Jinhyuk Kwon, Sungmin Kim, Sungoh Kwon",
keywords = "Image Processing, 3D location estimation",
abstract = "This study proposes a method for 3D measurement using images. Accurate 3D relative positioning is essential for drone landing at a designated location. The method of estimating location through comparison with video from a database is difficult to accurately estimate distance and angle because it only recognizes reference points. The approach of estimating distance and angle using a nonlinear estimator can lead to cumulative errors due to the increase in computational complexity and time delays during calculation. Existing study using multiple cameras has improved the accuracy of distance and location, but this is more complex than single camera system, and cumulative errors can arise from camera distortion and twisting. To address these issues, this paper proposes a method for 3D positioning and posture estimation using a single camera. The camera's intrinsic parameters were calibrated, and the relationship between the actual space and the image plane for known images was calculated to estimate the drone's position and orientation. Considering the estimated intrinsic parameters of the camera and the drone's estimated posture, a method for measuring the 3D position relative to the landing reference point was proposed. Specifically, a method for correcting the average angle, considering significant deviations, was proposed. Through experiments, the accuracy of this method was verified, with a maximum error of 47.4mm."
}