Virtual Sphere Radius Control for Smooth Autonomous Subject Tracking
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Solution Overview
Problem
Existing remote controlled vehicles, especially aerial vehicles, face challenges in autonomously tracking moving subjects due to the need for user control, which can lead to loss of track when the subject moves unexpectedly.
Innovation Solution
Implementing an autonomous system that uses a virtual sphere surrounding the vehicle to dynamically adjust its target position and camera configuration, allowing it to follow a moving subject smoothly and capture images even during abrupt movements by varying the radius based on vehicle velocity and camera settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If user control is used to follow the moving subject, then the vehicle can capture images with a perspective view different from the user, but the system is susceptible to losing track of the subject that suddenly moves in an unexpected direction
Solution Approach 1:
The system enables the vehicle to autonomously track the subject by computing target positions based on the virtual sphere and subject position, eliminating the need for continuous user control while maintaining reliable tracking even during sudden subject movements
Solution Approach 2:
The system pre-computes multiple candidate target positions within the virtual sphere before the subject moves, allowing the vehicle to quickly adjust to sudden subject movements without losing track, as the target position computation is ready in advance
2Measurement precision
If the vehicle directly tracks the subject position, then the subject can be followed accurately, but the trajectory may be abrupt and not cinematically pleasing
Solution Approach 1:
The system uses a virtual sphere geometry to define candidate target positions, creating smooth curved trajectories instead of direct linear paths to the subject. This spherical constraint ensures the vehicle follows aesthetically pleasing curved paths while maintaining accurate subject tracking
Solution Approach 2:
The system selects different target positions from the virtual sphere based on local conditions - choosing positions that optimize both tracking accuracy and trajectory smoothness for different phases of subject movement, creating locally optimal paths that combine to form a globally smooth trajectory
3Stability of the object's composition
If the vehicle maintains a fixed distance from the subject, then the framing is consistent, but the vehicle cannot adapt to abrupt subject movements or velocity changes
Solution Approach 1:
The system dynamically adjusts the virtual sphere radius and target position selection based on subject velocity and movement characteristics. The radius varies adaptively to maintain appropriate framing while allowing the vehicle to respond effectively to abrupt subject movements and velocity changes
Solution Approach 2:
The system changes key parameters including virtual sphere radius, target position, and vehicle velocity based on real-time subject movement analysis. These parameter adjustments enable the vehicle to maintain consistent framing while adapting to various subject movement patterns and velocities
Data Source
AI summary
Disclosed is a configuration of an autonomous vehicle for autonomously following a moving subject based on a radius of a virtual sphere surrounding the autonomous vehicle. The autonomous vehicle may be an unmanned ground vehicle or an unmanned aerial vehicle, which autonomously follows the subject (e.g., a device, a live entity, or any object) based on the virtual sphere. The radius of the virtual sphere may be dynamically configured according to a velocity of the autonomous vehicle or configurations of a camera coupled to the autonomous vehicle. Accordingly, the autonomous vehicle can follow the subject along a smooth trajectory, and capture images of abrupt movements of the subject in a cinematically pleasing manner.