Abstract
GPS data can become faulty under bridges, inside tunnels, or near high-voltage power lines, which could lead to drone flight errors. To address this issue, we are developing a system for conducting infrastructure inspections using drones that basically use GPS for autonomous flight control, but can also estimate self-position through image processing when GPS cannot be used under situations such as those mentioned above. This paper describes a method for estimation of self-position using ground images, with the aim of developing an autonomous drone flight system for use in infrastructure inspection.