複数ドローン協調による野外での3D人物モーションキャプチャ
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
複数の空撮カメラを協調制御し、障害物を避けながら最適な撮影配置を維持することで、マーカーなしで野外の人物動作をリアルタイムに3D再構成するシステムを開発した。
著者: Cherie Ho, Andrew Jong, Harry Freeman, Rohan Rao, Rogerio Bonatti, Sebastian Scherer
分類: cs.RO, cs.CV
原文アブストラクト
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine, and entertainment. The core challenges in developing a motion-capture system that operates in outdoors environments are: (1) 3D inference requires multiple simultaneous viewpoints of the target, (2) occlusion caused by obstacles is frequent when tracking moving targets, and (3) the camera and vehicle state estimation is noisy. We present a real-time aerial system for multi-camera control that can reconstruct human motions in natural environments without the use of special-purpose markers. We develop a multi-robot coordination scheme that maintains the optimal flight formation for target reconstruction quality amongst obstacles. We provide studies evaluating system performance in simulation, and validate real-world performance using two drones while a target performs activities such as jogging and playing soccer. Supplementary video: https://youtu.be/jxt91vx0cns
