@techreport{oai:ipsj.ixsq.nii.ac.jp:00216829,
 author = {竹内, 一真 and 滕, 睿 and 佐藤, 健哉 and Kazuma, Takeuchi and Rui, Teng and Kenya, Sato},
 issue = {7},
 month = {Mar},
 note = {近年，小型ドローンは機体が小さいことから，人間が入れないような狭小空間での活躍が期待されている．しかし，狭小空間では遮蔽物が多いため，操縦者の死角領域内にてドローンを飛行させる必要があり，操縦は困難である．また小型ドローンは，センサ搭載制限があり，センサによる障害物回避を行うことが困難であるため，衝突する恐れのある障害物が多く存在する狭小空間では，安全なドローン操縦は困難である．そこで，操縦者とドローンの間に遮蔽物が存在し，ドローンを視認できない環境に対して AR を用いる．本稿では，三次元環境地図を事前に作成し，遮蔽物により視認できない空間，ドローンを可視化した上で，AR を用いたドローン近傍の障害物を知覚する方式を提案し，従来の操縦と AR を用いた方式を比較した評価した．その結果，AR ありの方式では一貫して平均操縦時間，平均衝突警告回数が減少し，操縦性の向上を示した．, In recent years, small drones have been expected to play an active role in narrow spaces where humans cannot enter due to the small size of the spaces. However, since there are many obstructions in a small space, it is necessary to fly the drone within the pilot's blind spot, which is difficult to control. In addition, small drones are limited in sensor installation, and it is difficult to avoid obstacles using sensors, making safe drone operation difficult in confined spaces with many obstacles that may cause collisions. Therefore, AR is used for the environments where the drone cannot be seen due to the presence of obstructions between the operator and the drone. In this paper, we propose a method of perceiving obstacles in the vicinity of a drone using AR on the basis of creating a three-dimensional map of the environment in advance and visualizing the space and drone that cannot be seen due to obstructions. As a result, the average maneuvering time and the average number of collision warnings were consistently reduced in the method with AR, indicating an improvement in maneuverability.},
 title = {狭小空間監視のためのドローンを利用したAR可視化手法の実装と評価},
 year = {2022}
}