Background
Immediate and appropriate action is needed
to reduce disaster damage.

AR-Based Assistance Systemfor Search of Disaster Victims
Using Teleoperated Unmanned Helicopter

Process of Rescue
Collect information of devastated area
Search disaster victims
Clearing away the rubble
Rescue and transport victims
etc.

Robotics Laboratory
Masanao KOEDA

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The 12th COE Postdoctoral and Doctoral Researchers

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Research Purpose

2

Envisioned Situation

AR-Based Assistance System for Search of Disaster Victims
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32005/3/23

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Experiment:
Identification of Human Figure

System Overview
PCEnvironment

Wireless LAN

Omnidirectional
CameraGPS・ ・ ・ ・ ・3[m]Gyroscope
HMD

Omnidirectional Camera

23[m]Camera Position
2.4[m]

Gyroscope

Body Height
1.7[m]・ ・ ・ ・ ・Controller
PC, Wireless LAN
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4

Resolution：640x480[pixel]

The 12th COE Postdoctoral and Doctoral Researchers3[m]5

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・ ・ ・ ・ ・23[m]The 12th COE Postdoctoral and Doctoral Researchers

Capture Image
every 1[m]61Experiment:
Identification of Human Figure

Experiment:
Identification of Human Figure

Still image, Resolution 320x240[pixel]

Moving Image, Resolution 320x240[pixel]

3[m]

11[m]

19[m]

7[m]

15[m]

23[m]

3[m]
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Experimental Result

The 12th COE Postdoctoral and Doctoral Researchers

8

Size of Human Figure
Still Image, Human Figure，11.7[pixel]
Moving Image, Human Figure，10.3[pixel]
Moving Image, Moving Object，6.3[pixel]

11.7[pixel]
10.3[pixel]

10 Subjects,Male adults

6.3[pixel]
Still Image, Human Figure，Average 9.4[m]Moving Image, Human Figure，Average11.0[m]Moving Image, Moving Object，Average 19.3[m]2005/3/23

The 12th COE Postdoctoral and Doctoral Researchers

9.4[m]
9

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Environment

11.0[m]19.3[m]The 12th COE Postdoctoral and Doctoral Researchers

10

Experimental Result

Textual Annotation

Heijyo Palace Site

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Virtual Object

11

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The 12th COE Postdoctoral and Doctoral Researchers122

Experimental Result

Distance to Human Figure

178[s]

185[s]

192[s]

198[s]

205[s]

212[s]

219[s]

225[s]

30[m]Landing PointEvacuation Area

239[s]

232[s]

246[s]

Landing Point

252[s]

Takeoff Point

Human Figure was found in 200～217[s]around “Evacuation_Area”
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Altitude of the Helicopter

14

Discussion
11.7[pixel]

Resolution: 640x480[pixel]
Altitude: 6[m]10.3[pixel]

Impossible to Recognize
Human Figure

6.3[pixel]

6[m]Limitation ofCurrent System

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15

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Improvement Plan

The 12th COE Postdoctoral and Doctoral Researchers16Conclusion

High Resolution Omnidirectional Camera

To search disaster victims effectively, AR-based assist systemusing an unmanned helicopter was developed.
We conducted the experiment to estimate the performanceof the developed system.

Resolution: 1920x1035[pixel]
Altitude: 6[m]The limitation of the recognizable size of human figure
from still Images and moving images

Using the developed system, an experiment to search humans
was conducted.
Study of an improvement plan

11.7[pixel]
10.3[pixel]

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183