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題名 Skyfie：多軸空拍機用於空中自拍之互動控制方法研究
Skyfie : a study of user-centered technique for taking aerial selfies
作者 劉康平
Liu, Kang Ping
貢獻者 余能豪
Yu, Neng Hao
劉康平
Liu, Kang Ping
關鍵詞 多軸空拍機
自拍
互動模式
單手操作遙控器
Drones
Multicopter
Selfies
Interaction techniques
Single-hand remote control
日期 2018
上傳時間 9-Apr-2018 15:49:57 (UTC+8)
摘要 近年來多軸空拍機快速發展與普及，可預見其未來將成為新一代的輔助攝影工具。空拍機打破距離、角度的限制，讓時下流行的自拍（Selfie）照片相較於以往以手臂或自拍棒輔助的方式，拍出更具特色及多樣性的構圖。然而當前空拍機操作方式複雜，使用者需花費一定的練習時間才能熟練地控制空拍機至預定位置進行拍攝。
本研究針對空拍機的使用情境進行觀察，歸納傳統操作方式造成的問題，再依不同互動控制方法討論過往研究提出的解決方法之優勢與限制，並依據自拍行為之心智模型及過往研究經驗，設計兩階段互動流程：相機定位階段（Positioning）及鏡頭構圖階段（Framing），並在各階段中分別提出直接指向（Direct Pointing）、移動微調（Fine Tuning）及構圖調整（Framing）三種有別於傳統類比搖桿操控之互動模式。
本研究另設計一俱觸覺控制回饋、可單手操作之實體自拍遙控器，搭配前述互動設計實作兼具自動化移動及以使用者為中心進行操作之空拍機自拍互動控制系統原型Skyfie，並於戶外環境設計實驗場域進行使用者測試，測試使用者指揮空拍機至指定位置拍照之操作，評估互動流程中各操作方法之優劣。測試結果顯示Skyfie 互動控制系統相較於傳統的類比搖桿操控方式更易於學習及使用，且符合使用者對空間的認知，並依照回饋意見進行互動模式修正，以達成對空拍機初學者而言也簡單易學的互動操作方式。
As personal drones become more popular, we can envision a future where flying selfie bots are always with us. Drones break the limits of distance and angle, providing more diversified composition than taking selfie with arms or a selfie stick. However, users have to be very skillful to pilot the drone and are not easy to take aerial selfies by state-of-the-art methods.
Based on user observation and the mindset of selfie taking, we summarize the problems caused by the traditional control methods and generalize the interaction flow of selfie taking into two stages: Positioning and Framing stage. In each stage, we present new interaction techniques including a direct pointing technique, fine-tuning technique, and a touch manipulation for framing.
We also present a selfie remote controller designed for single-hand operation to collocates with the interaction techniques, and implement a proof-of-concept Skyfie system for an outdoor user testing. The result shows users felt intuitive and expressed enthusiasm to take aerial selfies with our techniques. Finally, we discuss the insights from the evaluation and conclude with future directions.
參考文獻 Cauchard, J. R., E, J. L., Zhai, K. Y., & Landay, J. A. (2015). Drone & me: an exploration into natural human-drone interaction. In Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing - UbiComp ’15 (pp. 361–365). New York, New York, USA: ACM Press.
Dajiang Innovations Technology Co., L. (2015). Phantom 3 Professional –遙控器. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/phantom-3-pro/remote-controller
Dajiang Innovations Technology Co., L.(2017).「曉」Spark Official Website. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/spark
DJI Developer. (20). Retrieved August 24, 2017, from https://developer.dji.com/cn/mobile-sdk/
Dajiang Innovations Technology Co., L. (2017). DJI GS Pro Official Website. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/ground-station-pro
Higuchi, K., Shimada, T., & Rekimoto, J. (2011). Flying sports assistant. In Proceedings of the 2nd Augmented Human International Conference on - AH ’11. https://doi.org/10.1145/1959826.1959833
Honeywell International Inc. HMC6343 Official Document. Retrieved February 5, 2018, from https://aerocontent.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Missiles-Munitions/HMC6343.pdf
Horus: An Interactive Tool for Designing Quadrotor Camera Shots. (n.d.). Retrieved August 27, 2017, from https://stanford-gfx.github.io/Horus/
Joubert, N., Roberts, M., Truong, A., Berthouzoz, F., & Hanrahan, P. (2015). An interactive tool for designing quadrotor camera shots. ACM Transactions on Graphics, 34(6), 1–11.
Mueller, F., Graether, E., & Toprak, C. (2013). Joggobot. In CHI ’13 Extended Abstracts on Human Factors in Computing Systems on - CHI EA `13. https://doi.org/10.1145/2468356.2479541
Mueller, F. ’floyd`, & Muirhead, M. (2015). Jogging with a Quadcopter. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems - CHI ’15. https://doi.org/10.1145/2702123.2702472
Nagi, J., Giusti, A., Di Caro, G. A., & Gambardella, L. M. (2014). HRI in the sky. In Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction - HRI ’14. https://doi.org/10.1145/2559636.2559833
Parallax Inc. PAM-7Q GPS Module Official Document. Retrieved February 5, 2018, from https://www.parallax.com/sites/default/files/downloads/28509-PAM-7Q-GPS-Module-Product-Guide-v1.0_1.pdf
Pfeil, K., Koh, S. L., & LaViola, J. (2013). Exploring 3d gesture metaphors for interaction with unmanned aerial vehicles. In Proceedings of the 2013 international conference on Intelligent user interfaces - IUI ’13. https://doi.org/10.1145/2449396.2449429
Poupyrev, I., Billinghurst, M., Weghorst, S., & Ichikawa, T. (1996). The go-go interaction technique. In Proceedings of the 9th annual ACM symposium on User interface software and technology - UIST ’96. https://doi.org/10.1145/237091.237102
Joubert, N., E, J. L., Goldman, D. B., Berthouzoz, F., & Roberts, M. (2016). Towards a Drone Cinematographer: Guiding Quadrotor Cameras using Visual Composition https://stanford-gfx.github.io/TowardsADroneCinematographer/
陳建方（2016）。多軸飛行器用於自拍情境之互動模式研究。碩士論文。國立政治大學，數位內容碩士學位學程學位學程，台灣。
描述 碩士
國立政治大學
資訊科學學系
103753011
資料來源 http://thesis.lib.nccu.edu.tw/record/#G0103753011
資料類型 thesis
dc.contributor.advisor 余能豪zh_TW
dc.contributor.advisor Yu, Neng Haoen_US
dc.contributor.author (Authors) 劉康平zh_TW
dc.contributor.author (Authors) Liu, Kang Pingen_US
dc.creator (作者) 劉康平zh_TW
dc.creator (作者) Liu, Kang Pingen_US
dc.date (日期) 2018en_US
dc.date.accessioned 9-Apr-2018 15:49:57 (UTC+8)-
dc.date.available 9-Apr-2018 15:49:57 (UTC+8)-
dc.date.issued (上傳時間) 9-Apr-2018 15:49:57 (UTC+8)-
dc.identifier (Other Identifiers) G0103753011en_US
dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/116778-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 資訊科學學系zh_TW
dc.description (描述) 103753011zh_TW
dc.description.abstract (摘要) 近年來多軸空拍機快速發展與普及，可預見其未來將成為新一代的輔助攝影工具。空拍機打破距離、角度的限制，讓時下流行的自拍（Selfie）照片相較於以往以手臂或自拍棒輔助的方式，拍出更具特色及多樣性的構圖。然而當前空拍機操作方式複雜，使用者需花費一定的練習時間才能熟練地控制空拍機至預定位置進行拍攝。
本研究針對空拍機的使用情境進行觀察，歸納傳統操作方式造成的問題，再依不同互動控制方法討論過往研究提出的解決方法之優勢與限制，並依據自拍行為之心智模型及過往研究經驗，設計兩階段互動流程：相機定位階段（Positioning）及鏡頭構圖階段（Framing），並在各階段中分別提出直接指向（Direct Pointing）、移動微調（Fine Tuning）及構圖調整（Framing）三種有別於傳統類比搖桿操控之互動模式。
本研究另設計一俱觸覺控制回饋、可單手操作之實體自拍遙控器，搭配前述互動設計實作兼具自動化移動及以使用者為中心進行操作之空拍機自拍互動控制系統原型Skyfie，並於戶外環境設計實驗場域進行使用者測試，測試使用者指揮空拍機至指定位置拍照之操作，評估互動流程中各操作方法之優劣。測試結果顯示Skyfie 互動控制系統相較於傳統的類比搖桿操控方式更易於學習及使用，且符合使用者對空間的認知，並依照回饋意見進行互動模式修正，以達成對空拍機初學者而言也簡單易學的互動操作方式。		zh_TW
dc.description.abstract (摘要) As personal drones become more popular, we can envision a future where flying selfie bots are always with us. Drones break the limits of distance and angle, providing more diversified composition than taking selfie with arms or a selfie stick. However, users have to be very skillful to pilot the drone and are not easy to take aerial selfies by state-of-the-art methods.
Based on user observation and the mindset of selfie taking, we summarize the problems caused by the traditional control methods and generalize the interaction flow of selfie taking into two stages: Positioning and Framing stage. In each stage, we present new interaction techniques including a direct pointing technique, fine-tuning technique, and a touch manipulation for framing.
We also present a selfie remote controller designed for single-hand operation to collocates with the interaction techniques, and implement a proof-of-concept Skyfie system for an outdoor user testing. The result shows users felt intuitive and expressed enthusiasm to take aerial selfies with our techniques. Finally, we discuss the insights from the evaluation and conclude with future directions.		en_US
dc.description.tableofcontents 第1 章 緒論 1
1.1 研究背景與動機 1
1.1.1 多軸空拍機的傳統操作方式與限制 1
1.1.2 自拍行為的心智模型 3
1.2 研究目的 4
第2 章 文獻探討 5
2.1 預先規劃路徑 5
2.2 自動化拍攝 7
2.3 以手勢控制的互動操作 9
2.4 小結 12
第3 章 系統設計 14
3.1 互動模式設計 14
3.1.1 直接指向（Direct Pointing） 16
3.1.2 移動微調（Fine Tuning） 19
3.1.3 構圖調整（Framing） 21
3.2 Skyfie 系統原型設計 22
3.2.1 空拍機裝置與操作方式 22
3.2.2 單手操作控制裝置 24
3.2.3 App 功能與介面設計 26
3.3 系統實作遭遇問題及解決方法描述 27
3.4 小結 30
第4 章 使用者測試 32
4.1 戶外場域實機測試 32
4.1.1 測試目的與環境設置 33
4.1.2 測試流程規劃 34
4.1.3 受測者資訊 35
4.2 測試結果與討論 35
4.3 互動系統修正與實作方法 37
4.4 小結 41
第5 章 結論 43
5.1 研究貢獻 43
5.2 研究限制與未來展望 44
參考文獻 47		zh_TW
dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0103753011en_US
dc.subject (關鍵詞) 多軸空拍機zh_TW
dc.subject (關鍵詞) 自拍zh_TW
dc.subject (關鍵詞) 互動模式zh_TW
dc.subject (關鍵詞) 單手操作遙控器zh_TW
dc.subject (關鍵詞) Dronesen_US
dc.subject (關鍵詞) Multicopteren_US
dc.subject (關鍵詞) Selfiesen_US
dc.subject (關鍵詞) Interaction techniquesen_US
dc.subject (關鍵詞) Single-hand remote controlen_US
dc.title (題名) Skyfie：多軸空拍機用於空中自拍之互動控制方法研究zh_TW
dc.title (題名) Skyfie : a study of user-centered technique for taking aerial selfiesen_US
dc.type (資料類型) thesisen_US
dc.relation.reference (參考文獻) Cauchard, J. R., E, J. L., Zhai, K. Y., & Landay, J. A. (2015). Drone & me: an exploration into natural human-drone interaction. In Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing - UbiComp ’15 (pp. 361–365). New York, New York, USA: ACM Press.
Dajiang Innovations Technology Co., L. (2015). Phantom 3 Professional –遙控器. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/phantom-3-pro/remote-controller
Dajiang Innovations Technology Co., L.(2017).「曉」Spark Official Website. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/spark
DJI Developer. (20). Retrieved August 24, 2017, from https://developer.dji.com/cn/mobile-sdk/
Dajiang Innovations Technology Co., L. (2017). DJI GS Pro Official Website. Retrieved August 24, 2017, from http://www.dji.com/zh-tw/ground-station-pro
Higuchi, K., Shimada, T., & Rekimoto, J. (2011). Flying sports assistant. In Proceedings of the 2nd Augmented Human International Conference on - AH ’11. https://doi.org/10.1145/1959826.1959833
Honeywell International Inc. HMC6343 Official Document. Retrieved February 5, 2018, from https://aerocontent.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Missiles-Munitions/HMC6343.pdf
Horus: An Interactive Tool for Designing Quadrotor Camera Shots. (n.d.). Retrieved August 27, 2017, from https://stanford-gfx.github.io/Horus/
Joubert, N., Roberts, M., Truong, A., Berthouzoz, F., & Hanrahan, P. (2015). An interactive tool for designing quadrotor camera shots. ACM Transactions on Graphics, 34(6), 1–11.
Mueller, F., Graether, E., & Toprak, C. (2013). Joggobot. In CHI ’13 Extended Abstracts on Human Factors in Computing Systems on - CHI EA `13. https://doi.org/10.1145/2468356.2479541
Mueller, F. ’floyd`, & Muirhead, M. (2015). Jogging with a Quadcopter. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems - CHI ’15. https://doi.org/10.1145/2702123.2702472
Nagi, J., Giusti, A., Di Caro, G. A., & Gambardella, L. M. (2014). HRI in the sky. In Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction - HRI ’14. https://doi.org/10.1145/2559636.2559833
Parallax Inc. PAM-7Q GPS Module Official Document. Retrieved February 5, 2018, from https://www.parallax.com/sites/default/files/downloads/28509-PAM-7Q-GPS-Module-Product-Guide-v1.0_1.pdf
Pfeil, K., Koh, S. L., & LaViola, J. (2013). Exploring 3d gesture metaphors for interaction with unmanned aerial vehicles. In Proceedings of the 2013 international conference on Intelligent user interfaces - IUI ’13. https://doi.org/10.1145/2449396.2449429
Poupyrev, I., Billinghurst, M., Weghorst, S., & Ichikawa, T. (1996). The go-go interaction technique. In Proceedings of the 9th annual ACM symposium on User interface software and technology - UIST ’96. https://doi.org/10.1145/237091.237102
Joubert, N., E, J. L., Goldman, D. B., Berthouzoz, F., & Roberts, M. (2016). Towards a Drone Cinematographer: Guiding Quadrotor Cameras using Visual Composition https://stanford-gfx.github.io/TowardsADroneCinematographer/
陳建方（2016）。多軸飛行器用於自拍情境之互動模式研究。碩士論文。國立政治大學，數位內容碩士學位學程學位學程，台灣。		zh_TW