  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 a 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
