Vehicle Trajectory Determination To Stabilize Vehicle-Captured Video
First Claim
1. A method comprising:
- identifying a coarse waypoint for a vehicle;
determining a trajectory for the vehicle from a current location of the vehicle to the coarse waypoint, the trajectory reducing sudden changes in direction of movement of the vehicle, reducing sudden changes in speed of the vehicle, and reducing sudden changes in acceleration of the vehicle;
selecting one or more fine waypoints along the trajectory;
communicating commands to a movement control system to maneuver the vehicle from the current location to the coarse waypoint and passing through each of the one or more fine waypoints; and
capturing video via a camera system of the vehicle while the vehicle maneuvers from the current location to the coarse waypoint.
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Abstract
A vehicle has a camera system that captures video while the vehicle moves. The vehicle records the captured video and/or wirelessly transmits the captured video to a remote user device for playback. When the vehicle is moving, a coarse waypoint is identified and a trajectory is determined from the current location of the vehicle to the coarse waypoint that reduces (e.g., minimizes) sudden changes in direction of movement of the vehicle, reduces (e.g., minimizes) sudden changes in speed of the vehicle, and/or reduces (e.g., minimizes) sudden changes in acceleration of the vehicle by reducing (e.g., minimizing) jerk or snap of the vehicle trajectory. One or more fine waypoints along the trajectory are selected and the vehicle moves to the coarse waypoint along the trajectory by passing through those fine waypoints, resulting in smooth movement of the device that reduces or eliminates motion sickness for users viewing the captured video.
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Citations
20 Claims
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1. A method comprising:
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identifying a coarse waypoint for a vehicle; determining a trajectory for the vehicle from a current location of the vehicle to the coarse waypoint, the trajectory reducing sudden changes in direction of movement of the vehicle, reducing sudden changes in speed of the vehicle, and reducing sudden changes in acceleration of the vehicle; selecting one or more fine waypoints along the trajectory; communicating commands to a movement control system to maneuver the vehicle from the current location to the coarse waypoint and passing through each of the one or more fine waypoints; and capturing video via a camera system of the vehicle while the vehicle maneuvers from the current location to the coarse waypoint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A device comprising:
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a coarse waypoint determination module configured to identify a coarse waypoint for a vehicle; a trajectory determination module configured to determine a trajectory for the vehicle from a current location of the vehicle to the coarse waypoint, the trajectory reducing sudden changes in direction of movement of the vehicle, reducing sudden changes in speed of the vehicle, and reducing sudden changes in acceleration of the vehicle; a fine waypoint selection module configured to select multiple fine waypoints along the trajectory; a movement control module configured to maneuver the vehicle from the current location to the coarse waypoint by passing through each of the one or more fine waypoints; and a camera system configured to capture video while the vehicle maneuvers from the current location to the coarse waypoint. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A device comprising:
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one or more processors; a computer-readable storage medium having stored thereon multiple instructions that, responsive to execution by the one or more processors, cause the one or more processors to perform acts comprising; identifying a coarse waypoint for a vehicle; determining a trajectory for the vehicle from a current location of the vehicle to the coarse waypoint, the trajectory reducing sudden changes in direction of movement of the vehicle, reducing sudden changes in speed of the vehicle, and reducing sudden changes in acceleration of the vehicle; selecting multiple fine waypoints along the trajectory; maneuvering the vehicle from the current location to the coarse waypoint and passing through each of the one or more fine waypoints; capturing video via a camera system of the vehicle while the vehicle maneuvers from the current location to the coarse waypoint. - View Dependent Claims (18, 19, 20)
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Specification