CineMPC：カメラ内部・外部パラメータを統合制御する自律撮影アルゴリズム
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography
ドローンのカメラ位置・姿勢に加え、焦点距離・ピント・絞りまでMPCで同時制御し、映画的な構図や被写界深度効果を自律的に実現する手法を提案した論文。
著者: Pablo Pueyo, Eduardo Montijano, Ana C. Murillo, Mac Schwager
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientation of the camera -- the camera extrinsics -- as well as the lens focal length, focal distance, and aperture -- the camera intrinsics. While some existing solutions autonomously control the position and orientation of the camera, no existing solutions also control the intrinsic parameters, which are essential tools for rich cinematographic expression. The intrinsic parameters control the parts of the scene that are focused or blurred, the viewers' perception of depth in the scene and the position of the targets in the image. CineMPC closes the loop from camera images to UAV trajectory and lens parameters in order to follow the desired relative trajectory and image composition as the targets move through the scene. Experiments using a photo-realistic environment demonstrate the capabilities of the proposed control framework to successfully achieve a full array of cinematographic effects not possible without full camera control.
