Recent legislation opening commercial operations to small drones, also known as Micro Aerial Vehicles (MAVs) under 55 lbs, is leading to increased use across many facets of society including first responders, news agencies, commercial entities, and hobbyists. However, the widespread use of such systems will be limited unless a few key hurdles are overcome, namely improved usability and support for safe operation in dynamic environments. To this end, we present the Collision and Obstacle Detection and Alerting (CODA) display, a novel interface that enables safe piloting of MAVs with a mobile device in obstacle-dense real-world settings. We describe the system design, architecture, and development. In addition, we present observations from a proof-of-concept technical demonstration and an empirical study with minimally-trained users. Results showed that CODA reduced collisions and improved operator awareness of obstacle proximity, confidence going around corners and perceived performance in avoiding walls and obstacles.

最近的立法对小型无人机（也称为55磅以下的微型飞机）开放商业运营，这导致在社会的各个方面（包括急救人员，新闻社，商业实体和业余爱好者）越来越多地使用。但是，除非克服一些关键障碍，即提高可用性和支持动态环境中的安全操作，否则此类系统的广泛使用将受到限制。为此，我们展示了碰撞和障碍物检测和警报（CODA）显示，这是一个新颖的界面，可在障碍物密集的真实环境中使用移动设备安全地驾驶MAV。我们描述了系统设计，体系结构和开发。此外，我们还提供了来自概念验证的技术演示和对受过最少培训的用户进行的经验研究的观察结果。