Automatic pan/tilt pointing device, luminaire follow-spot, and 6DOF 3D position/orientation calculation information

• US 20020176603A1
• Filed: 05/24/2002
• Published: 11/28/2002
• Est. Priority Date: 05/24/2001
• Status: Abandoned Application

• Current Assignee: Acoustic Positioning Research Incorporated
• Original Assignee: Acoustic Positioning Research Incorporated
• Inventors: Lozano-Hemmer, Rafael, Bauer, Will
• Application Number:
  US10/155,764
• Publication Number:
  US 20020176603A1
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G01S 3/786 the desired condition being maintained automatically
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems

Abstract

A system and method for automatically tracking objects of interest and aiming or pointing a device capable of pan/tilt movement at the objects as they move in real-time. The system also provides the capability to gather, in real-time or non-real time, information to calculate the position and orientation in three dimensions of the aiming or pointing device. The position and orientation information is characterized by three positional coordinates (x,y,z) and three angular orientation coordinates (Theta, Gamma, and Phi) for a total of six degrees of freedom or 6DOF.

Claims

1. A system for tracking an object of interest and controlling a pointing device capable of pan/tilt movement at the object of interest, said system comprising:

an emitter module coupled to the object of interest, said emitter module being adapted to emit a pulsed light output;

an imaging module, said imaging module being coupled to the pointing device, said imaging module including an image acquisition component, said image acquisition component being responsive to the pulsed light output of said emitter module for acquiring images of said pulsed light output;

an image processing module, said image processing module including a controller for processing the images acquired by said imaging module, and said controller further including a component for generating control signals derived from said acquired images for controlling the pan and tilt movement of the pointing device to track the object of interest.

2. The system as claimed in claim 1, wherein said emitter module includes an infrared light emitting device and a controller for modulating the infrared light emitting device, and said controller being adapted to modulate the infrared light emitting device to produce a coded pulsed output.

3. The system as claimed in claim 2, wherein the controller for said emitter module includes an input device for setting control parameters, said control parameters including an output power level for said infrared light emitting device, and a pulse coding sequence for said infrared light emitting device.

4. The system as claimed in claim 3, wherein said pulse coding sequence has a frequency between 3 Hertz and 5 Kilo-Hertz.

5. The system as claimed in claim 2, wherein said controller includes an input device for setting control parameters associated with the pointing device.

6. The system as claimed in claim 1, wherein said imaging module is coupled to a stationary portion of said pointing device, and remains stationary in relation to the pan and tilt movement of said pointing device.

7. The system as claimed in claim 6, wherein said imaging module includes an optical filter and a lens for transmitting the pulsed light output from said emitter module to said image acquisition component, said optical filter having a frequency pass-band corresponding to the light output of said emitter module.

8. The system as claimed in claim 7, wherein said image acquisition component comprises a digital imaging component capable of generating a sequence of digital images of the captured pulsed light output from said emitter module.

9. The system as claimed in claim 6, wherein said controller for processing the images acquired by said imaging module comprises means for determining angular positions corresponding to the positions of said emitter module coupled to the object of interest, and said imaging module having an image field of view and said angular positions being determined relative to the center of said image field of view.

10. The system as claimed in claim 9, wherein said controller includes means for decoding a coded pulse light output from said emitter module, said coded pulse light output providing a unique identifier for the emitter module and the associated object of interest.

11. The system as claimed in claim 9, wherein said controller includes means for predicting the position of the emitter module and thereby the object of interest at a future point in time.

12. The system as claimed in claim 9, wherein said component for generating control signals includes means for controlling positioning of the pointing device to the last determined angular position of the emitter module and the object of interest, or to a predicted position for the object of interest.

13. The system as claimed in claim 9, wherein said controller includes an input for receiving control signals from an external controller, said external control signals including signals for controlling the pan and tilt movement of the pointing device.

14. The system as claimed in claim 1, further including an external controller for making position and orientation determinations for the pointing device, said position and orientation determinations comprising three positional coordinates and three angular orientation coordinates.

15. The system as claimed in claim 14, wherein said external controller includes an input component coupled to an output port on said controller, and an output component coupled to an input port on said controller, said output component providing control signals to said controller for acquiring position and orientation data for the pointing device, and said input component receiving the acquired position and orientation data for making said position and orientation determinations associated with the pointing device.

16. The system as claimed in claim 15, wherein said position and orientation data comprises a plurality of angular coordinates, each of said angular coordinates being derived from images acquired from a plurality of emitter modules.

18. The system as claimed in claim 17, wherein said pointing device comprises a robotic light, said robotic light including a moving head controllable with six degrees of freedom including three positional coordinates and three angular orientation coordinates.

19. The system as claimed in claim 17, wherein said pointing device comprises a video camera, and said video camera being adapted for real-time pan and tilt control.

20. The system as claimed in claim 17, wherein said pointing device comprises a digital imaging system, said digital imaging system being operable for real-time pan and tilt control.

21. The system as claimed in claim 17, wherein said pointing device comprises a video camera platform adapted for real-time pan and tilt control.

22. The system as claimed in claim 17, wherein said pointing device comprises a digital imaging system platform, said digital imaging system platform being operable for real-time pan and tilt control.

23. The system as claimed in claim 17, wherein said controller includes a component for generating control signals for behaviours associated with said pointing device.

25. The system as claimed in claim 24, wherein said light emitter means includes an infrared light emitting device and means for modulating the infrared light emitting device, and said means for modulating being adapted to modulate the infrared light emitting device to produce a coded pulsed output.

26. The system as claimed in claim 25, wherein said means for modulating includes an input device for setting control parameters, said control parameters including an output power level for said light emitter means, and a pulse coding sequence for said infrared light emitting device.

27. The system as claimed in claim 26, wherein said pulse coding sequence has a frequency between 3 Hertz and 5 Kilo-Hertz.

28. The system as claimed in claim 2, wherein said image processing means includes an input device for setting control parameters associated with the pointing device.

29. The system as claimed in claim 24, wherein said image acquisition means is coupled to a stationary portion of said pointing device, and remains stationary in relation to the pan and tilt movement of said pointing device.

30. The system as claimed in claim 29, wherein said image acquisition means includes an optical filter and a lens for transmitting the pulsed light output from said light emitter mean to said image processing means, said optical filter having a frequency pass-band corresponding to the light output of said light emitter means.

31. The system as claimed in claim 30, wherein said image acquisition means comprises a digital imaging component capable of generating a sequence of digital images of the captured pulsed light output from said light emitter means.

32. The system as claimed in claim 29, wherein said image processing means for processing images acquired by said image acquisition means comprises means for determining angular positions corresponding to the positions of said emitter module coupled to the object of interest, and said image acquisition means having an image field of view and said angular positions being determined relative to the center of said image field of view.

33. The system as claimed in claim 32, wherein said image processing means includes means for decoding a coded pulse light output from said light emitter means, said coded pulse light output providing a unique identifier for the light emitter means and the associated object of interest.

34. The system as claimed in claim 32, wherein said image processing means includes means for predicting the position of said light emitter means and thereby the object of interest at a future point in time.

35. The system as claimed in claim 33, wherein said means for generating control signals includes means for controlling positioning of the pointing device to the last determined angular position of said light emitter means and the object of interest, or to a predicted position for the object of interest.

36. The system as claimed in claim 32, wherein said image processing means includes an input for receiving control signals from external controller means, said external control signals including signals for controlling the pan and tilt movement of the pointing device.

37. The system as claimed in claim 24, further including means for making position and orientation determinations for the pointing device, said position and orientation determinations comprising three positional coordinates and three angular orientation coordinates.

38. The system as claimed in claim 37, wherein said means for making position and orientation determinations includes input means coupled to an output port on said image processing means, and output means coupled to an input port on said image processing means, said output means providing control signals to said image processing means for acquiring position and orientation data for the pointing device, and said input means receiving the acquired position and orientation data for making said position and orientation determinations associated with the pointing device.

39. The system as claimed in claim 38, wherein said position and orientation data comprises a plurality of angular coordinates, each of said angular coordinates being derived from images acquired from a plurality of light emitter means.

17. A system for tracking an object of interest and controlling a pointing device capable of pan/tilt movement at the object of interest, said system comprising:

an emitter module coupled to the object of interest, said emitter module being adapted to emit a pulsed light output;

an imaging module, said imaging module being coupled to the pointing device, said imaging module including an image acquisition component, said image acquisition component being responsive to the pulsed light output of said emitter module for acquiring images of said pulsed light output, and said imaging module being coupled to a stationary portion of said pointing device and remaining stationary in relation to the pan and tilt movement of said pointing device;

an image processing module, said image processing module including a controller for processing the images acquired by said imaging module, and said controller further including a component for generating control signals derived from said acquired images for controlling the pan and tilt movement of the pointing device to track the object of interest; and

an external controller for making position and orientation determinations for the pointing device, said position and orientation determinations comprising three positional coordinates and three angular orientation coordinates, wherein said external controller includes an input component coupled to an output port on said controller, and an output component coupled to an input port on said controller, said output component providing control signals to said controller for acquiring position and orientation data for the pointing device, and said input component receiving the acquired position and orientation data for making said position and orientation determinations associated with the pointing device.

24. A system for tracking an object of interest and controlling a pointing device capable of pan/tilt movement at the object of interest, said system comprising:

light emitter means coupled to the object of interest for emitting a pulsed light output;

image acquisition means coupled to the pointing device for acquiring images of said pulsed light output;

image processing means for processing the images acquired by said image acquisition means, said image processing means including means for generating control signals derived from said acquired images for controlling the pan and tilt movement of the pointing device to track the object of interest.