Camera Tracking Control Laws for Moving Platforms
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Solution Overview
Problem
Existing camera systems for tracking objects from moving platforms require individual tuning for unique environmental conditions, making the creation of large networks expensive and inefficient.
Innovation Solution
A method using a single camera with exponentially stabilizing control laws to dynamically adjust the optical axis and lens system based on translation and rotation data, maintaining the image centroid and apparent distance from the target, while accounting for system latency and vehicle motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple cameras are used with individual tuning for unique environmental conditions, then tracking reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies universality by developing a single camera system with a universal control algorithm that can track objects across different environmental conditions. The control algorithm incorporates multiple compensation mechanisms (motion compensation, focus adjustment, distortion correction) that work universally regardless of specific environmental factors, eliminating the need for multiple specially-tuned cameras while maintaining tracking reliability.
2Measurement precision
If multiple cameras are deployed with environment-specific tuning, then tracking precision is improved, but manufacturing cost increases
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting camera parameters (focal length, exposure, focus distance) based on real-time detected object characteristics and environmental conditions. The control algorithm modifies these parameters adaptively to maintain optimal tracking precision across varying conditions, eliminating the need for manual environment-specific tuning and reducing manufacturing costs while preserving measurement precision.
3Device complexity
If a single camera is used without dynamic adjustment, then device complexity is reduced, but image stability deteriorates during vehicle motion
Solution Approach 1:
The patent applies dynamics by implementing real-time dynamic adjustment of the camera system in response to detected vehicle motion and object position changes. The control algorithm continuously modifies optical parameters (focal length, image capture position) to compensate for motion effects, maintaining image stability and object tracking accuracy despite changing operational conditions, all through a single camera system.
4Productivity
If real-time tracking is implemented with dynamic adjustment, then tracking responsiveness is improved, but computational requirements and system complexity increase
Solution Approach 1:
The patent applies feedback by implementing a closed-loop control system that continuously monitors object position, vehicle motion, and image quality metrics. The control algorithm uses this feedback to automatically adjust camera parameters in real-time, optimizing tracking responsiveness. The feedback mechanism enables the system to adapt to changing conditions dynamically while maintaining manageable computational complexity through efficient algorithm design.
Data Source
AI summary
A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.