论文标题
你看到我看到的吗？用于机器人摄影的多个航空摄像机协调
Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography
论文作者
论文摘要
航空摄影大大扩大了电影制片人的能力。自动驾驶飞机（UAV）的最新进展进一步增加了航空摄像机的潜在影响，该系统可以在非结构化的混乱环境中安全地跟踪演员。但是，专业制作需要同时使用多个摄像机来记录同一场景的不同观点，这些观点是实时或后期制作中的最终录像中编辑的。这种极端的运动协调对于无脚本的动作场景特别困难，这是空中摄像机的常见用例。在这项工作中，我们开发了一个实时多动力协调系统，该系统能够记录动态目标，同时最大程度地提高射击多样性并避免摄像机之间的碰撞和相互可见性。我们在光真逼真的模拟器的多个混乱环境中验证了我们的方法，并在现实世界实验中使用两个UAV部署了系统。我们表明，我们的协调方案的计算成本较低，平均只需1.17毫秒即可计划在10秒钟内的3个无人机团队。补充视频：https：//youtu.be/m2r3anv2ade
Aerial cinematography is significantly expanding the capabilities of film-makers. Recent progress in autonomous unmanned aerial vehicles (UAVs) has further increased the potential impact of aerial cameras, with systems that can safely track actors in unstructured cluttered environments. Professional productions, however, require the use of multiple cameras simultaneously to record different viewpoints of the same scene, which are edited into the final footage either in real time or in post-production. Such extreme motion coordination is particularly hard for unscripted action scenes, which are a common use case of aerial cameras. In this work we develop a real-time multi-UAV coordination system that is capable of recording dynamic targets while maximizing shot diversity and avoiding collisions and mutual visibility between cameras. We validate our approach in multiple cluttered environments of a photo-realistic simulator, and deploy the system using two UAVs in real-world experiments. We show that our coordination scheme has low computational cost and takes only 1.17 ms on average to plan for a team of 3 UAVs over a 10 s time horizon. Supplementary video: https://youtu.be/m2R3anv2ADE
