用无人机和AR设备实时透视墙体，看到墙后目标位置与轮廓。
See Behind Walls in Real-time Using Aerial Drones and Augmented Reality
- 双无人机配合用户位置，几何计算推断目标方向
- 合成无人机图像，重建墙后目标轮廓，准确率高
- 适合应急搜救、军事侦察等需穿透视野的场景
本文提出ARD2框架，利用两架空中无人机与增强现实（AR）设备实现实时穿墙监视。系统包含两个主要步骤：目标方向估计与轮廓重建。第一阶段通过无人机、用户与目标间的几何关系，将目标方向投影至用户的AR显示界面；第二阶段则融合无人机拍摄图像，重构目标轮廓，使用户可直观观察墙后目标。实验结果表明，该系统在方向估计与轮廓重建方面均具备高准确性。
原文摘要 · Abstract (English)
This work presents ARD2, a framework that enables real-time through-wall surveillance using two aerial drones and an augmented reality (AR) device. ARD2 consists of two main steps: target direction estimation and contour reconstruction. In the first stage, ARD2 leverages geometric relationships between the drones, the user, and the target to project the target's direction onto the user's AR display. In the second stage, images from the drones are synthesized to reconstruct the target's contour, allowing the user to visualize the target behind walls. Experimental results demonstrate the system's accuracy in both direction estimation and contour reconstruction.
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