132201 20260217205455.0 doi 10.1109/TRO.2024.3353550 sideral 137358 ART-2024-137358 eng Pueyo, Pablo Universidad de Zaragoza CineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition 2024 Access copy available to the general public Unrestricted We 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 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 10.5 2024 ROBOTICS 5 / 48 = 0.104 2024 Q1 T1 2.965 2024 Computer Science Applications 2024 Q1 Electrical and Electronic Engineering 2024 Q1 Control and Systems Engineering 2024 Q1 19.3 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Dendarieta, Juan Universidad de Zaragoza Montijano, Eduardo Universidad de Zaragoza (orcid)0000-0002-5176-3767 Murillo, Ana Cristina Universidad de Zaragoza (orcid)0000-0002-7580-9037 Schwager, Mac 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 40 (2024), 1740-1757 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 8573832 http://zaguan.unizar.es/record/132201/files/texto_completo.pdf Versión publicada 3373620 http://zaguan.unizar.es/record/132201/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:132201 articulos driver 2026-02-17-20:20:04 ARTICLE