Optical Determination of the Position and Orientation of Various Objects in Three-Dimensional Space

This article presents the result of a study and solution of the problem of autonomous monitoring of objects in order to find their real coordinates and orientation, knowing their size, as well as the characteristics of the camera. In order to test the algorithm's performance, a special environment was created in the Gazebo simulation environment, program code was written, and the results of determining coordinates were shown. The simulation was performed using a virtual multirotor unmanned aerial vehicle.