用MR实现无人机沉浸式操控，提升操作直观性与情境感知。
IGUANA: Immersive Guidance, Navigation, and Control for Consumer UAV
- 用可拖拽航点的3D地形图实现高层控制
- 虚拟球体模拟低层操控，直观但缺力反馈
- 空间叠加层帮助追踪视线外无人机，增强态势感知
随着消费级无人机（UAV）和混合现实（MR）头显市场的持续增长，二者融合的研究日益增多，能实现更直观、沉浸式且情境感知更强的控制系统。本文提出IGUANA，一种基于MR的消费级无人机沉浸式引导、导航与控制方案。其核心创新包括：(1) 带可拖拽航点标记和实时相机预览的3D地形图界面，用于高层控制；(2) 以虚拟球体为物理类比的新型空间控制隐喻，用于低层控制；(3) 空间叠加层，帮助用户在无视觉直线或视线受阻时追踪无人机。通过用户研究发现：(1) 3D地图界面直观易用，减轻手动操作负担，相比传统双摇杆控制器，准确性与一致性更高，主观负荷更低；(2) 虚拟球体界面直观，但因缺乏物理反馈存在局限；(3) 空间叠加层显著提升用户态势感知能力。
原文摘要 · Abstract (English)
As the markets for unmanned aerial vehicles (UAVs) and mixed reality (MR) headsets continue to grow, recent research has increasingly explored their integration, which enables more intuitive, immersive, and situationally aware control systems. We present IGUANA, an MR-based immersive guidance, navigation, and control system for consumer UAVs. IGUANA introduces three key elements beyond conventional control interfaces: (1) a 3D terrain map interface with draggable waypoint markers and live camera preview for high-level control, (2) a novel spatial control metaphor that uses a virtual ball as a physical analogy for low-level control, and (3) a spatial overlay that helps track the UAV when it is not visible with the naked eye or visual line of sight is interrupted. We conducted a user study to evaluate our design, both quantitatively and qualitatively, and found that (1) the 3D map interface is intuitive and easy to use, relieving users from manual control and suggesting improved accuracy and consistency with lower perceived workload relative to conventional dual-stick controller, (2) the virtual ball interface is intuitive but limited by the lack of physical feedback, and (3) the spatial overlay is very useful in enhancing the users' situational awareness.
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