  We present a system to capture video footage of human subjects in the real
world. Our system leverages a quadrotor camera to automatically capture
well-composed video of two subjects. Subjects are tracked in a large-scale
outdoor environment using RTK GPS and IMU sensors. Then, given the tracked
state of our subjects, our system automatically computes static shots based on
well-established visual composition principles and canonical shots from
cinematography literature. To transition between these static shots, we
calculate feasible, safe, and visually pleasing transitions using a novel
real-time trajectory planning algorithm. We evaluate the performance of our
tracking system, and experimentally show that RTK GPS significantly outperforms
conventional GPS in capturing a variety of canonical shots. Lastly, we
demonstrate our system guiding a consumer quadrotor camera autonomously
capturing footage of two subjects in a variety of use cases. This is the first
end-to-end system that enables people to leverage the mobility of quadrotors,
as well as the knowledge of expert filmmakers, to autonomously capture
high-quality footage of people in the real world.
