论文标题
用多个无人机自主执行摄影镜头
Autonomous Execution of Cinematographic Shots with Multiple Drones
论文作者
论文摘要
本文介绍了一个与一组无人机执行自主摄影任务的系统。该系统允许媒体导演设计任务，涉及一个或多台摄像机的不同类型的镜头，依次或同时运行。我们介绍了完整的体系结构，其中包括用于任务设计，计划和执行的组件。然后，我们专注于与自主任务执行有关的组件。首先，我们考虑了不同类型的相机运动和跟踪目标的新型参数描述。我们使用它来实现一组规范的镜头。其次，对于多无人机射击执行，我们提出了分布式调度程序，以激活无人机上的不同射击控制器。此外，一种基于事件的机制用于同步无人机之间的射击执行，并在射击计划期间说明了不准确性。最后，我们通过现场实验拍摄体育活动，包括真正的帆船赛活动，展示了该系统。我们在实验活动中报告了系统集成和经验教训。
This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system allows media directors to design missions involving different types of shots with one or multiple cameras, running sequentially or concurrently. We introduce the complete architecture, which includes components for mission design, planning and execution. Then, we focus on the components related to autonomous mission execution. First, we propose a novel parametric description for shots, considering different types of camera motion and tracked targets; and we use it to implement a set of canonical shots. Second, for multi-drone shot execution, we propose distributed schedulers that activate different shot controllers on board the drones. Moreover, an event-based mechanism is used to synchronize shot execution among the drones and to account for inaccuracies during shot planning. Finally, we showcase the system with field experiments filming sport activities, including a real regatta event. We report on system integration and lessons learnt during our experimental campaigns.
