We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientation of the camera -- the camera extrinsics -- as well as the lens focal length, focal distance, and aperture -- the camera intrinsics. While some existing solutions autonomously control the position and orientation of the camera, no existing solutions also control the intrinsic parameters, which are essential tools for rich cinematographic expression. The intrinsic parameters control the parts of the scene that are focused or blurred, the viewers' perception of depth in the scene and the position of the targets in the image. CineMPC closes the loop from camera images to UAV trajectory and lens parameters in order to follow the desired relative trajectory and image composition as the targets move through the scene. Experiments using a photo-realistic environment demonstrate the capabilities of the proposed control framework to successfully achieve a full array of cinematographic effects not possible without full camera control.

翻译：我们展示了CineMPC, 这是一种在非线性模型预测控制(MPC)循环中自主控制无人机携带的摄像机的算法。 CineMPC 控制着相机的位置和方向 -- -- 相机的外缘 -- -- 以及镜头焦距长度、焦距和孔径 -- -- 相机的内在。虽然一些现有解决方案自主控制着相机的位置和方向,但没有任何现有解决方案也控制着内在参数,这些参数是丰富的电影摄影表达式的基本工具。内在参数控制着场景中集中或模糊的部分,观众对现场深度和图像中目标位置的感知。 CineMPC 关闭了从相机图像到反卫星轨道和镜头参数的循环,以便跟踪目标在现场移动时所需的相对轨迹和图像构成。 使用摄影现实环境进行的实验表明了拟议控制框架的能力,以便在没有完全摄像控制的情况下不可能实现全系列的电影效果。