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Aerial vehicles are revolutionizing applications that require capturing the3D structure of dynamic targets in the wild, such as sports, medicine, andentertainment. The core challenges in developing a motion-capture system thatoperates in outdoors environments are: (1) 3D inference requires multiplesimultaneous viewpoints of the target, (2) occlusion caused by obstacles isfrequent when tracking moving targets, and (3) the camera and vehicle stateestimation is noisy. We present a real-time aerial system for multi-cameracontrol that can reconstruct human motions in natural environments without theuse of special-purpose markers. We develop a multi-robot coordination schemethat maintains the optimal flight formation for target reconstruction qualityamongst obstacles. We provide studies evaluating system performance insimulation, and validate real-world performance using two drones while a targetperforms activities such as jogging and playing soccer. Supplementary video:https://youtu.be/jxt91vx0cns

3D Human Reconstruction in the Wild with Collaborative Aerial Cameras