政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/131630

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政大典藏 > College of Informatics > Department of Computer Science > Theses > Item 140.119/131630

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/131630

Title:	最佳化多視角無人機燈光秀 Multi-Angle-View Drone Light Show
Authors:	翁愷均 Weng, Kai-Chun
Contributors:	紀明德 Chi, Ming-Te 翁愷均 Weng, Kai-Chun
Keywords:	三向圖無人機燈光秀整數規劃 3D Ambigram Drone Light Show Integer Programming
Date:	2020
Issue Date:	2020-09-02 12:15:13 (UTC+8)
Abstract:	近年來無人機相關技術蓬勃發展，除了傳統軍事應用外也可應用於空拍目的，甚至加裝LED燈藉由編隊隊型與燈號轉換完成一場無人機燈光表演，這類型的表演也因為可客制化的特性被廣泛應用於各類慶典。然而目前大多數無人機燈光表演依舊仰賴專業人員設計圖案與規劃路徑，此外，無人機也存在著最佳觀賞位置，為了擁有最佳的觀看體驗，群眾也常會聚集在特定區域造成壅塞。本研究針對現行無人機飛行表演提出一種可供更多視角觀賞之情境，運用visual hull的概念為每個觀賞點劃出符合輸入圖形之候選區域，並且利用整數規劃及相關方法建立數學模型，解決不同角度輸入圖片互相矛盾的問題，以最低數量的無人機構成可供多視角觀賞之靜態無人機結構。透過在每組靜態無人機多視角結構之間找尋最合適的對應點作為各個階段間的飛行起終點，並使用即時避障技術在每台無人機彼此不發生碰撞的情況下生成無人機最短飛行路徑動畫。整個流程最後於模擬環境中展示，透過結果與實驗數據分析本研究方法優缺點。 Drones, or precisely quadrotors’, have increased use not only in the field of robotics, but also in entertainment. Coordinate multiple drones in a fashion manner to form visual presentations with equipped LEDs, is known as drone light shows. Such performance offers visual enjoyment for a large area of the audience, especially in festivals. However, most current drone light shows are manually coordinated by personnel using the software. Furthermore, drone light shows have a limited viewing range, which limits the audience to get a better view on the actual performance. This paper proposes a method to provide multiple views of visual presentation in accordance with different viewing angles. The algorithm uses the concept of the visual hull to draw out candidate areas that form the input images and uses constraint and weights classification to solve graphics contradiction, hence reducing the number of drones needed to form a multi-angle view structure for visual presentation. To allow such a structure to perform animation, the most suitable corresponding point in two different structures is located, and the shortest flight path without collision is generated. Experiments conducted in the simulation provides more insight and discussion, and each factor is visualized and considered to provide a better understanding of a multi-angle view drone light show.
Reference:	[1] Abduladhem A. Ali, Abdulmuttalib T. Rashid, Mattia Frasca, and Luigi Fortuna. Analgorithm for multi-robot collision-free navigation based on shortest distance.Roboticsand Autonomous Systems, 75:119–128, 2016. [2] Jur Van Den Berg, Ming Lin, and Dinesh Manocha. Reciprocal velocity obstacles forreal-time multi-agent navigation.2008 IEEE International Conference on Robotics andAutomation, 2008. [3] G. Bradski. The OpenCV Library.Dr. Dobb’s Journal of Software Tools, 2000. [4] Atsushi Fujimori, Masato Teramoto, Peter N. Nikiforuk, and Madan M. Gupta. Coop-erative collision avoidance between multiple mobile robots.Journal of Robotic Systems,17(7):347–363, 2000. [5] Stephen. J. Guy, Jatin Chhugani, Changkyu Kim, Nadathur Satish, Ming Lin, Di-nesh Manocha, and Pradeep Dubey. Clearpath.Proceedings of the 2009 ACM SIG-GRAPH/Eurographics Symposium on Computer Animation - SCA 09, 2009. [6] Kai-Wen Hsiao, Jia-Bin Huang, and Hung-Kuo Chu. Multi-view wire art.ACM Transac-tions on Graphics, 37(6):1–11, Apr 2018. [7] Kalin Kolev, Maria Klodt, Thomas Brox, and Daniel Cremers. Continuous global op-timization in multiview 3d reconstruction.International Journal of Computer Vision,84(1):80–96, Jan 2009. [8] A. Laurentini. The visual hull concept for silhouette-based image understanding.IEEETransactions on Pattern Analysis and Machine Intelligence, 16(2):150–162, 1994. [9] Niloy J. Mitra and Mark Pauly. Shadow art.ACM Transactions on Graphics, 28(5):1, Jan2009. [10] Laurent Perron and Vincent Furnon. Or-tools. [11] M. A Shah and N. Aouf. 3d cooperative pythagorean hodograph path planning and ob-stacle avoidance for multiple uavs.2010 IEEE 9th International Conference on CybernticIntelligent Systems, 2010. [12] Matthew Trager, Martial Hebert, and Jean Ponce. Consistency of silhouettes and theirduals.2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016. [13] Weidan Xiong, Pengbo Zhang, Pedro V. Sander, and Ajay Joneja. Shape-inspired architec-tural design.Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphicsand Games - I3D 18, 2018. [14] IgorˇSkrjanc and Gregor Klanˇcar.Optimal cooperative collision avoidance betweenmultiple robots based on bernstein–b ́ezier curves.Robotics and Autonomous Systems,58(1):1–9, 2010.
Description:	碩士國立政治大學資訊科學系 106753033
Source URI:	http://thesis.lib.nccu.edu.tw/record/#G0106753033
Data Type:	thesis
DOI:	10.6814/NCCU202001678
Appears in Collections:	[Department of Computer Science ] Theses

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