The purpose of the present invention is to provide a highly efficient method for capturing images inside a confined space without the need for direct visual observation by an inspector. Provided is an unmanned aerial vehicle equipped with at least four rotors, a drive device that drives the rotors, a control signal generation circuit that generates a control signal for causing the drive device to drive the rotors, and an imaging camera, wherein said unmanned aerial vehicle is configured to fly within a confined space by driving the rotors while capturing images inside the confined space by means of the imaging camera.