Autonomous cameras allow live events, such as lectures and sports matches, to be broadcast to larger audiences. In this work, we review autonomous camera systems developed over the past twenty years. Quite often, these systems were demonstrated on scripted stage productions (typically cooking shows), lectures, or team sports. We organize the discussion in terms of three core tasks: (1) planning where the cameras should look, (2) controlling the cameras as they transition from one parameter configuration to another, and (3) selecting which camera to put “on-air” in multi-camera systems. We conclude by discussing a trend towards more data-driven approaches fueled by continuous improvements in underlying sensing and signal processing technology.
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