Drone delivery is a popularemerging application at present. However, existing drone delivery systems can only deliver to outdoor open spaces via GPS,cannot directly to the interior of recipient＇s building. In the era of covid-19 pandemic, we aim to reduce human contactpropose a drone delivery system that can deliver packages to the doorstepthe interior of buildings,to achieve fully automatic control of the drone by developing visual positioning technique.

Two indoor positioning techniques are presented. The first one is a monocular vision based landmark matching scheme for identifying absolute indoor locations. The scheme requires just one photo shotmatches it with a landmark database to obtain the location. The landmark data base can be easily adapted to different fields. The proposed scheme is highly computing efficient. The correct landmark identification rate is up to 90the positioning accuracy is 1.5m. The second one is a relative positioning scheme based on ultra-wide band (UWB) technology. It can be employed on an automatic guided vehicle (AGV) to implement the trailing function. The accuracy of positioning is 80cm.