VISION BASED REAL-TIME OBJECT TRACKING SYSTEM FOR ROBOTIC GIMBAL CONTROL
First Claim
1. A real-time interactive display system for dynamic object selection and tracking, the system comprising:
- a pivoting device, wherein the pivoting device includes a roll motor, pitch motor, and yaw motor, wherein actuating the roll motor, pitch motor, and yaw motor causes the pivoting device to be operable with at least three degrees of freedom;
a computer vision camera, wherein the computer vision camera is mounted on the pivoting device;
a stabilizing controller device coupled to the pivoting device, wherein the stabilizing controller device can actuate the roll, pitch, and yaw motors of the pivoting device; and
a computing device connected to the stabilizing controller device, wherein the computing device comprises a processing system having one or more cores, the processing system configured to;
periodically receive a frame from the computer vision camera;
receive information about a Region Of Interest (ROI) within the frame, wherein the ROI includes a target subject that needs to be tracked in real-time;
compute a location and size of the target subject based on the information; and
transmit instructions to the stabilizing controller device to control the pitch and yaw motors of the pivoting device to adjust the pivoting device such that the subject target is maintained within the frame of the computer vision camera.
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Accused Products
Abstract
Using various embodiments, methods, systems, and apparatuses for controlling a camera pivoting device (e.g., mechanical gimbal) are described. In one embodiment, the system comprises a main computing device, a gimbal stabilizer controller, and a computer vision camera, and/or a user camera. The system is able to track a target object using the computer vision camera even while the target object is moving, the base of the pivoting device is moving (e.g., when a user controlling the camera moves), or a combination of thereof. The camera pivoting device of the embodiments disclosed herein can be mounted on to any number of devices/objects that can provide mobility and/or transportation.
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Citations
20 Claims
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1. A real-time interactive display system for dynamic object selection and tracking, the system comprising:
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a pivoting device, wherein the pivoting device includes a roll motor, pitch motor, and yaw motor, wherein actuating the roll motor, pitch motor, and yaw motor causes the pivoting device to be operable with at least three degrees of freedom; a computer vision camera, wherein the computer vision camera is mounted on the pivoting device; a stabilizing controller device coupled to the pivoting device, wherein the stabilizing controller device can actuate the roll, pitch, and yaw motors of the pivoting device; and a computing device connected to the stabilizing controller device, wherein the computing device comprises a processing system having one or more cores, the processing system configured to; periodically receive a frame from the computer vision camera; receive information about a Region Of Interest (ROI) within the frame, wherein the ROI includes a target subject that needs to be tracked in real-time; compute a location and size of the target subject based on the information; and transmit instructions to the stabilizing controller device to control the pitch and yaw motors of the pivoting device to adjust the pivoting device such that the subject target is maintained within the frame of the computer vision camera. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method to dynamically select and track a subject interactively, the method comprising:
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periodically receiving, by a computing device, a frame from a computer vision camera; receiving information about a Region Of Interest (ROI) within the frame, wherein the ROI includes a target subject that needs to be tracked in real-time; computing a location and size of the target subject based on the information; and transmitting instructions to a stabilizing controller device to control at least one motor of a pivoting device to adjust the pivoting device such that the subject target is maintained within the frame of the computer vision camera in real-time; wherein the pivoting device includes a roll motor, pitch motor, and yaw motor, and wherein actuating the roll motor, pitch motor, and yaw motor causes the pivoting device to be operable with at least three degrees of freedom, and wherein the computer vision camera is mounted on the pivoting device, and wherein the stabilizing controller device is coupled to the pivoting device, and wherein the stabilizing controller device can actuate the roll, pitch, and yaw motors of the pivoting device, and wherein the computing device is connected to the stabilizing controller device. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable medium comprising instructions which when executed by a processing system executes a method to dynamically select and track a subject interactively, the method comprising:
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periodically receiving, by a computing device, a frame from a computer vision camera; receiving information about a Region Of Interest (ROI) within the frame, wherein the ROI includes a target subject that needs to be tracked in real-time; computing a location and size of the target subject based on the information; and transmitting instructions to a stabilizing controller device to control at least one motor of a pivoting device to adjust the pivoting device such that the subject target is maintained within the frame of the computer vision camera in real-time; wherein the pivoting device includes a roll motor, pitch motor, and yaw motor, and wherein actuating the roll motor, pitch motor, and yaw motor causes the pivoting device to be operable with at least three degrees of freedom, and wherein the computer vision camera is mounted on the pivoting device, and wherein the stabilizing controller device is coupled to the pivoting device, and wherein the stabilizing controller device can actuate the roll, pitch, and yaw motors of the pivoting device, and wherein the computing device is connected to the stabilizing controller device. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification