论文标题
无人机摄影师的检测感知轨迹产生
Detection-Aware Trajectory Generation for a Drone Cinematographer
论文作者
论文摘要
这项工作调查了追逐动态目标的有效轨迹产生，该目标包含可检测性目标。提出的方法积极指导摄影师无人机的运动，以使目标的颜色在无人机视图中与背景的颜色有充分的区别。对于目标，我们定义了在追逐路径的情况下定义颜色可检测性的度量。在计算了针对度量标准优化的离散路径后，我们生成了动态可行的轨迹。整个管道可以随时更新以响应目标的运动。对于有效的离散路径生成，我们构建了一个有向的无环图（DAG），可以在不进行深度优先搜索的情况下分析拓扑排序。平滑路径是在二次编程（QP）框架中获得的。当相机无人机执行从建议的方法获得的轨迹时，我们验证了最先进的对象检测和跟踪算法的增强性能。
This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target is well-distinguished against the colors of the background in the view of the drone. For the objective, we define a measure of color detectability given a chasing path. After computing a discrete path optimized for the metric, we generate a dynamically feasible trajectory. The whole pipeline can be updated on-the-fly to respond to the motion of the target. For the efficient discrete path generation, we construct a directed acyclic graph (DAG) for which a topological sorting can be determined analytically without the depth-first search. The smooth path is obtained in quadratic programming (QP) framework. We validate the enhanced performance of state-of-the-art object detection and tracking algorithms when the camera drone executes the trajectory obtained from the proposed method.
