Hybrid Robotic Virtual Camera for Smooth Tracking
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Solution Overview
Problem
Conventional automated camera systems for live broadcasts, especially in dynamic environments like sports events, struggle to balance smooth motion with accurate tracking of moving objects, leading to potential disorientation of viewers and loss of image resolution due to the limitations of online, real-time systems and offline resampling approaches.
Innovation Solution
A hybrid robotic/virtual camera system that combines online, real-time tracking with a short temporal delay to anticipate future object motions, allowing for smooth and purposeful camera movement while maintaining high image resolution, by using a robotic PTZ camera with a wide-angle lens and a virtual camera that resamples the video on a short delay, thereby stabilizing the control feedback loop.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If an online, real-time system is used to control the robotic camera, then the camera can track moving objects in real-time, but the system cannot anticipate future object motions and may produce jerky or oscillating movements
Solution Approach 1:
The system performs preliminary actions by anticipating future object positions based on current motion trends. The camera controller calculates predicted future positions of tracked objects and pre-plans camera trajectory points accordingly, allowing the camera to smoothly follow predicted motion paths rather than reactively tracking past positions. This preliminary planning enables smooth transitions while maintaining real-time tracking capability.
2Measurement precision
If the camera moves quickly to follow dynamic objects, then tracking accuracy improves, but motion smoothness deteriorates causing viewer disorientation
Solution Approach 1:
The system dynamically adjusts camera movement parameters based on the motion characteristics of tracked objects. When objects move rapidly, the camera increases its tracking speed while simultaneously calculating smooth trajectory paths that anticipate future positions. The controller dynamically balances between responsive tracking and smooth motion by adjusting acceleration and deceleration profiles, ensuring the camera follows high-speed objects without producing jerky movements that would disorient viewers.
3Stability of the object's composition
If a virtual camera with resampling is used, then smooth trajectories can be planned, but image resolution is lost due to the resampling process
Solution Approach 1:
The system creates a virtual copy of the robotic camera's intended trajectory and uses this copy for path planning purposes. The virtual camera model allows the controller to calculate smooth trajectory points and anticipate future positions without affecting the actual robotic camera's movement. By separating the planning function (virtual camera) from the execution function (robotic camera), the system maintains both smooth trajectories and full image resolution from the physical camera sensor.
4Device complexity
If conventional offline resampling approaches are used, then complex algorithms can plan trajectories, but the system cannot provide live broadcast capability and loses temporal relevance
Solution Approach 1:
The system changes the temporal parameter of the resampling process by implementing a short temporal delay rather than using traditional offline processing. This parameter change allows the system to use complex trajectory planning algorithms while maintaining near-real-time performance. The delayed resampling approach processes future frame information that is already captured but not yet displayed, enabling sophisticated path planning without adding significant latency to the live broadcast stream.
Data Source
AI summary
A system and method generates a broadcast image. The method includes receiving a first image captured by a first camera having a first configuration incorporating a first center of projection. The method includes determining a first mapping from a first image plane of the first camera onto a sphere. The method includes determining a second mapping from the sphere to a second image plane of a second virtual camera having a second configuration incorporating the first center of projection of the first configuration. The method includes generating a second image based upon the first image and a concatenation of the first and second mappings.