Autonomous tracking based on radius

• US 10,317,915 B2
• Filed: 02/28/2017
• Issued: 06/11/2019
• Est. Priority Date: 02/28/2017
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: GoPro, Inc.
• Inventors: Tankersley, Benjamin
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US15/445,464
• Publication Number:
  US 20180356842A1
• Time in Patent Office: 833 Days
• Field of Search: None
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G05D 1/12 Target-seeking control
• CPC Class Codes: G05D 1/46 Control of position or course in three dimensions
• CPC Class Codes: G05D 1/683 Intercepting moving targets docking at a base station G05D1/661
• CPC Class Codes: G05D 1/686 Maintaining a relative position with respect to moving targets, e.g. following animals or humans for pointing payloads towards targets G05D1/689; involving controlling the position or course of two or more vehicles G05D1/69
• CPC Class Codes: G05D 1/689 Pointing payloads towards fixed or moving targets positioning towed, pushed or suspended implements G05D1/672
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

Disclosed is a configuration of an autonomous vehicle for autonomously following a moving subject based on a radius of a virtual sphere surrounding the autonomous vehicle. The autonomous vehicle may be an unmanned ground vehicle or an unmanned aerial vehicle, which autonomously follows the subject (e.g., a device, a live entity, or any object) based on the virtual sphere. The radius of the virtual sphere may be dynamically configured according to a velocity of the autonomous vehicle or configurations of a camera coupled to the autonomous vehicle. Accordingly, the autonomous vehicle can follow the subject along a smooth trajectory, and capture images of abrupt movements of the subject in a cinematically pleasing manner.

Claims

1. A vehicle comprising:

a body;

a camera coupled to the body, the camera configured to capture an image of a subject;

a radius tracking controller coupled to the body, the radius tracking controller configured to;

determine a radius of a virtual sphere around the vehicle based on a configuration of the camera, and

determine an updated target position of the vehicle based on a comparison between (i) a distance between a vehicle position of the vehicle and a previous target position of the vehicle and (ii) the radius; and

a vehicle controller interface module coupled to the body, the vehicle controller interface module configured to move the vehicle towards the updated target position of the vehicle.

2. The vehicle of claim 1, wherein the configuration of the camera includes at least one of an orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

3. The vehicle of claim 1, wherein the radius tracking controller is further configured to set the previous target position of the vehicle to be the updated target position of the vehicle in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is larger than the radius.

4. The vehicle of claim 1, wherein the radius tracking controller is further configured to determine an intersection between (i) a path between the previous target position of the vehicle and a subject position of the subject, and (ii) a surface of the virtual sphere surrounding the vehicle with the radius in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is less than the radius.

5. The vehicle of claim 4, further comprising:

a subject position estimation subsystem coupled to the body, the subject position estimation subsystem configured to estimate the subject position, and provide the estimated subject position to the radius tracking controller.

6. The vehicle of claim 4, further comprising:

a communication subsystem coupled to the body, the communication subsystem configured to receive information describing the subject position, and provide the subject position to the radius tracking controller.

7. The vehicle of claim 1, further comprising:

a telemetric subsystem coupled to the body, the telemetric subsystem configured to determine the vehicle position and to provide the vehicle position to the radius tracking controller.

8. The vehicle of claim 1, wherein the radius tracking controller is further configured to determine a pitch and a heading of the camera to face an anticipated position of the subject based on the updated target position of the vehicle, wherein the vehicle further comprises a gimbal controller securing the camera, the gimbal controller configured to situate the camera according to the determined pitch and the heading.

9. A method of following a subject comprising:

determining a radius of a virtual sphere around a vehicle based on a configuration of a camera coupled to the vehicle, and

determining an updated target position of the vehicle based on a comparison between (i) a distance between a vehicle position of the vehicle and a previous target position of the vehicle and (ii) the radius; and

moving the vehicle towards the updated target position of the vehicle.

10. The method of claim 9, wherein the configuration of the camera includes at least one of an orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

11. The method of claim 9, further comprising:

setting the previous target position of the vehicle to be the updated target position of the vehicle in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is larger than the radius.

12. The method of claim 9, further comprising:

determining an intersection between (i) a path between the previous target position of the vehicle and a subject position of the subject, and (ii) a surface of the virtual sphere surrounding the vehicle with the radius in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is less than the radius.

13. The method of claim 9, further comprising:

determining a pitch and a heading of the camera to face an anticipated position of the subject based on the updated target position of the vehicle; and

situating the camera according to the determined pitch and the heading.

14. A vehicle comprising:

a body;

a radius tracking controller coupled to the body, the radius tracking controller configured to;

determine a radius of a virtual sphere around the vehicle based on a velocity of the vehicle, and

determine an updated target position of the vehicle based on a comparison between (i) a distance between a vehicle position of the vehicle and a previous target position of the vehicle and (ii) the radius; and

a vehicle controller interface module coupled to the body, the vehicle controller interface module configured to move the vehicle towards the updated target position of the vehicle.

15. The vehicle of claim 14, further comprising a gimbal configured to secure a camera, wherein the radius is determined further based on a configuration of the camera.

16. The vehicle of claim 15, wherein the configuration of the camera includes at least one of an orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

17. The vehicle of claim 14, wherein the radius tracking controller is further configured to set the previous target position of the vehicle to be the updated target position of the vehicle in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is larger than the radius.

18. The vehicle of claim 14, wherein the radius tracking controller is further configured to determine an intersection between (i) a path between the previous target position of the vehicle and a subject position of the subject, and (ii) a surface of the virtual sphere surrounding the vehicle with the radius in response to the determination that the distance between the vehicle position and the previous target position of the vehicle is less than the radius.