非構造環境で動く対象を追う自律空撮ドローンの基盤
Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments
動く対象の視覚的定位、リアルタイム3D距離場による遮蔽・安全計算、滑らかさと芸術性を最適化するカメラ計画を統合し、未知の非構造環境でも自律空撮を可能にした研究。
著者: Rogerio Bonatti, Cherie Ho, Wenshan Wang, Sanjiban Choudhury, Sebastian Scherer
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while filming a moving target usually requires multiple expert human operators; hence the need for an autonomous cinematographer. Current approaches have severe real-life limitations such as requiring fully scripted scenes, high-precision motion-capture systems or GPS tags to localize targets, and prior maps of the environment to avoid obstacles and plan for occlusion. In this work, we overcome such limitations and propose a complete system for aerial cinematography that combines: (1) a vision-based algorithm for target localization; (2) a real-time incremental 3D signed-distance map algorithm for occlusion and safety computation; and (3) a real-time camera motion planner that optimizes smoothness, collisions, occlusions and artistic guidelines. We evaluate robustness and real-time performance in series of field experiments and simulations by tracking dynamic targets moving through unknown, unstructured environments. Finally, we verify that despite removing previous limitations, our system achieves state-of-the-art performance. Videos of the system in action can be seen at https://youtu.be/ZE9MnCVmumc
