Paper Info
Title
Optimal Trajectory Planning for Autonomous Drone Cinematography
Abstract
This paper presents a method for optimal trajectory planning with applications to drone cinematography. Aerial cinematography with drones is growing fast due to their maneuverability and ability to create unique visual effects. However, planning optimal drone trajectories and camera movements is still a major challenge to autonomous aerial filming. The trajectories must meet the objectives on aesthetic quality of the videos while satisfying several constraints imposed by drone dynamics, gimbal mechanical limits and surrounding obstacles. In this paper, we propose a novel formulation of the problem by decoupling the gimbal and the drone control systems. The problem is formulated as an optimization problem taking into account the gimbal rotation limits and collision avoidance constraints as well as camera angle driven objective functions to ensure feasible and smooth drone trajectories that generate visually pleasing videos. We evaluate the efficacy of our method through simulations and real-world experiments in an outdoor environment.
Year
DOI
Venue
2019
10.1109/ECMR.2019.8870950
2019 European Conference on Mobile Robots (ECMR)
Keywords
Field
DocType
aerial cinematography,unique visual effects,optimal drone trajectories,autonomous aerial filming,drone dynamics,gimbal mechanical limits,drone control systems,optimization problem,gimbal rotation limits,drone trajectories,optimal trajectory planning,autonomous drone cinematography
Computer vision,Computer science,Decoupling (cosmology),Control engineering,Collision,Artificial intelligence,Drone,Control system,Cinematography,Optimization problem,Trajectory,Gimbal
Conference
ISBN
Citations 
PageRank 
978-1-7281-3606-6
0
0.34
References 
Authors
9
6
Name
Order
Citations
PageRank
Bahareh Sabetghadam100.34
Alfonso Alcántara200.34
Jesús Capitán3192.43
Rita Cunha415924.55
Aníbal Ollero51109123.55
António M. Pascoal619423.65