000132201 001__ 132201
000132201 005__ 20240301161206.0
000132201 0247_ $$2doi$$a10.1109/TRO.2024.3353550
000132201 0248_ $$2sideral$$a137358
000132201 037__ $$aART-2024-137358
000132201 041__ $$aeng
000132201 100__ $$aPueyo, Pablo$$uUniversidad de Zaragoza
000132201 245__ $$aCineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition
000132201 260__ $$c2024
000132201 5060_ $$aAccess copy available to the general public$$fUnrestricted
000132201 5203_ $$aWe present CineMPC, a complete cinematographic system that autonomously controls a drone to film multiple targets recording user-specified aesthetic objectives. Existing solutions in autonomous cinematography control only the camera extrinsics, namely its position, and orientation. In contrast, CineMPC is the first solution that includes the camera intrinsic parameters in the control loop, which are essential tools for controlling cinematographic effects like focus, depth-of-field, and zoom. The system estimates the relative poses between the targets and the camera from an RGB-D image and optimizes a trajectory for the extrinsic and intrinsic camera parameters to film the artistic and technical requirements specified by the user. The drone and the camera are controlled in a nonlinear Model Predicted Control (MPC) loop by re-optimizing the trajectory at each time step in response to current conditions in the scene. The perception system of CineMPC can track the targets' position and orientation despite the camera effects. Experiments in a photo-realistic simulation and with a real platform demonstrate the capabilities of the system to achieve a full array of cinematographic effects that are not possible without the control of the intrinsics of the camera. Code for CineMPC is implemented following a modular architecture in ROS and released to the community IEEE
000132201 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000132201 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000132201 700__ $$aDendarieta, Juan$$uUniversidad de Zaragoza
000132201 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, Eduardo$$uUniversidad de Zaragoza
000132201 700__ $$0(orcid)0000-0002-7580-9037$$aMurillo, Ana Cristina$$uUniversidad de Zaragoza
000132201 700__ $$aSchwager, Mac
000132201 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000132201 773__ $$g40 (2024), 1740-1757$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098
000132201 8564_ $$s8573832$$uhttps://zaguan.unizar.es/record/132201/files/texto_completo.pdf$$yVersión publicada
000132201 8564_ $$s3373620$$uhttps://zaguan.unizar.es/record/132201/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000132201 909CO $$ooai:zaguan.unizar.es:132201$$particulos$$pdriver
000132201 951__ $$a2024-03-01-14:52:02
000132201 980__ $$aARTICLE