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We present CineMPC, an algorithm to autonomously control a UAV-borne videocamera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls boththe position and orientation of the camera -- the camera extrinsics -- as wellas the lens focal length, focal distance, and aperture -- the cameraintrinsics. While some existing solutions autonomously control the position andorientation of the camera, no existing solutions also control the intrinsicparameters, which are essential tools for rich cinematographic expression. Theintrinsic parameters control the parts of the scene that are focused orblurred, the viewers' perception of depth in the scene and the position of thetargets in the image. CineMPC closes the loop from camera images to UAVtrajectory and lens parameters in order to follow the desired relativetrajectory and image composition as the targets move through the scene.  Experiments using a photo-realistic environment demonstrate the capabilitiesof the proposed control framework to successfully achieve a full array ofcinematographic effects not possible without full camera control.

CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography