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Camera Field-of-View trajectory design using mobile robots


O. Varesis

Semester Thesis, SS17

In this semester thesis, the concept of a fully autonomous cinematography is addressed. To be able to achieve this, a variety of Field-of-View trajectories are designed both for planar and 3D movements. An object, moving randomly is being tracked by a certain omni-directional robot which has a PTZ camera incorporated. Initially, the model of the robot is defined, as well as the physical constraints imposed by the environment for the camera robot. Next, an optimal Model Predictive Controller for reference tracking is implemented taking into consideration the constraints for the physical camera robot, followed by the design of planar and 3D trajectories by considering the relative configuration of the object and the camera robot in a leader-follower configuration.
Finally, for visual representation a simulation in Gazebo is implemented to visualize the results of the optimal closed loop control.

Supervisors: Nikolaos Kariotoglou, Reto Hofmann, Max Polzin, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5661
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