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UAVs have been widely used in visual inspections of buildings, bridges andother structures. In either outdoor autonomous or semi-autonomous flightsmissions strong GPS signal is vital for UAV to locate its own positions.However, strong GPS signal is not always available, and it can degrade or fullyloss underneath large structures or close to power lines, which can causeserious control issues or even UAV crashes. Such limitations highly restrictedthe applications of UAV as a routine inspection tool in various domains. Inthis paper a vision-model-based real-time self-positioning method is proposedto support autonomous aerial inspection without the need of GPS support.Compared to other localization methods that requires additional onboardsensors, the proposed method uses a single camera to continuously estimate theinflight poses of UAV. Each step of the proposed method is discussed in detail,and its performance is tested through an indoor test case.

Vision-model-based Real-time Localization of Unmanned Aerial Vehicle for Autonomous Structure Inspection under GPS-denied Environment