  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
