FlyCap: Markerless Motion Capture Using Multiple Autonomous Flying Cameras [article]

Lan Xu, Lu Fang, Wei Cheng, Kaiwen Guo, Guyue Zhou, Qionghai Dai, and Yebin Liu
2016 arXiv   pre-print
Aiming at automatic, convenient and non-instrusive motion capture, this paper presents a new generation markerless motion capture technique, the FlyCap system, to capture surface motions of moving characters using multiple autonomous flying cameras (autonomous unmanned aerial vehicles(UAV) each integrated with an RGBD video camera). During data capture, three cooperative flying cameras automatically track and follow the moving target who performs large scale motions in a wide space. We propose
more » ... novel non-rigid surface registration method to track and fuse the depth of the three flying cameras for surface motion tracking of the moving target, and simultaneously calculate the pose of each flying camera. We leverage the using of visual-odometry information provided by the UAV platform, and formulate the surface tracking problem in a non-linear objective function that can be linearized and effectively minimized through a Gaussian-Newton method. Quantitative and qualitative experimental results demonstrate the competent and plausible surface and motion reconstruction results
arXiv:1610.09534v3 fatcat:mxtzspgpt5bepld2pfv4hz73fm