基於視覺之自我定位應用於空拍機自拍

Vision-Based Ego-Positioning of Drone for Selfie

周孟勳(Meng-Hsun Chou)

指導教授 ： 洪一平

國立臺灣大學/電機資訊學院/資訊工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201702800

摘要

隨著手機攝影功能的普及讓「自拍」成為時下人們的新文化。加上多軸飛行器技術的快速發展，飛行穩定度越來越好，藉由其靈活飛行的特性，加裝鏡頭在其上，形成了現在人們所稱的「空拍機」，因其能夠拍攝更許多手持相機、自拍棒等，無法拍攝出的畫面，而逐漸廣受人們喜愛。但要靈活操控空拍機需要大量的練習，因此我們希望設計出一套系統，藉由簡單的步驟便能讓無操控經驗的使用者利用空拍機進行自拍。在此系統中，我們讓使用者先拍攝自拍時想合照的目標物，然後依據使用者心中原本的構圖來對照上述所拍攝的影像圖，進而計算出能拍攝出原構圖結果的位置，並讓空拍機飛往該定點進行拍攝，因此如何計算出準確的位置，是我們想要著手研發系統的核心。本論文針對此部分進行了研究，設計出兩種計算方法並進行實驗比較。

關鍵字

多軸飛行器 ； 自拍 ； 自我定位 ； 單目視覺定位

並列摘要

Nowadays, flying technology of drone is more and more stable. Camera-equipped drones are more popular today. Using drone to selfie can take a picture with more possible shot angle and distance. However, controlling a drone require a longer training. In this paper, We firstly survey the approaches about drone, and the state-of-the-art monocular visual positioning approaches. We want to invest a system which let unexperienced drone users can selfie with drone. In our system, user can take an initial shot, and composing this shot. System calculate a position to drone. Drone can shot at this position and get a photo which similar to user composition result. So how to calculate the target camera position is the most important part of our paper. We design two methods, and evaluate them by experiment to decide the most performance method.

並列關鍵字

Drone ； Selfie ； Ego-Positioning ； Monocular visual positioning

參考文獻

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