See Behind Walls in Real-time Using Aerial Drones and Augmented Reality

This work presents ARD2, a framework that enables real-time through-wall surveillance using two aerial drones and an augmented reality (AR) device. ARD2 consists of two main steps: target direction estimation and contour reconstruction. In the first stage, ARD2 leverages geometric relationships between the drones, the user, and the target to project the target's direction onto the user's AR display. In the second stage, images from the drones are synthesized to reconstruct the target's contour, allowing the user to visualize the target behind walls. Experimental results demonstrate the system's accuracy in both direction estimation and contour reconstruction.