3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
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DOI：
10.1109/iros51168.2021.9636745
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发表时间：
2021-08
期刊：
影响因子：
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通讯作者：
Cherie Ho;Andrew Jong;Harry Freeman;Rohan Rao;Rogerio Bonatti;S. Scherer
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文献类型：
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作者：
Cherie Ho;Andrew Jong;Harry Freeman;Rohan Rao;Rogerio Bonatti;S. Scherer
飞行器是需要在野外捕获动态目标的3D结构的革命性应用，例如体育，医疗和娱乐。开发在户外环境中运行的运动捕获系统的核心挑战是：（1）3D推理需要目标的多个同时视点，（2）跟踪移动目标时，障碍物引起的遮挡是频繁的，以及（3）相机和车辆状态估计是有噪声的。我们提出了一个实时的多摄像机控制的航空系统，可以重建人体运动在自然环境中，而不使用特殊用途的标记。我们开发了一个多机器人协调方案，保持最佳的飞行编队之间的障碍物的目标重建质量。我们提供了评估系统性能的模拟研究，并验证使用两个无人机的真实世界的性能，而目标执行活动，如慢跑和踢足球。补充视频：https://youtu.be/jxt91vx0cns
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