用可漂浮的飞艇摄像头无扰拍摄室内案发现场，辅助破案。
Blimp-based Crime Scene Analysis
- 用飞艇作“空中摄像机”，低干扰覆盖室内案发现场。
- 实测飞艇搭载多类传感器，续航20分钟且扰动极小。
- 适合刑侦、智能机器人与室内外协同探测研究者参考。
犯罪常发生在封闭空间，给调查带来挑战。为在证据被污染或破坏前完整记录现场，本文从人工智能、计算机视觉与机器人角度提出方案：使用飞艇作为“漂浮摄像机”在室内缓慢飞行并拍摄。通过快速原型开发，验证了飞艇在手动或半自动操作下的可行性。结果表明，飞艇可搭载RGB/热成像相机、LiDAR及WiFi设备，电池续航达20分钟；同时确认其产生的气流极小，对现场几乎无扰动。最后，文章提出血迹检测、三维建图与路径规划等后续方向，旨在推动该技术在刑侦领域的深入探索。
原文摘要 · Abstract (English)
Crime is a critical problem -- which often takes place behind closed doors, posing additional difficulties for investigators. To bring hidden truths to light, evidence at indoor crime scenes must be documented before any contamination or degradation occurs. Here, we address this challenge from the perspective of artificial intelligence (AI), computer vision, and robotics: Specifically, we explore the use of a blimp as a "floating camera" to drift over and record evidence with minimal disturbance. Adopting a rapid prototyping approach, we develop a proof-of-concept to investigate capabilities required for manual or semi-autonomous operation. Consequently, our results demonstrate the feasibility of equipping indoor blimps with various components (such as RGB and thermal cameras, LiDARs, and WiFi, with 20 minutes of battery life). Moreover, we confirm the core premise: that such blimps can be used to observe crime scene evidence while generating little airflow. We conclude by proposing some ideas related to detection (e.g., of bloodstains), mapping, and path planning, with the aim of stimulating further discussion and exploration.
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