# US 11,122,210 B2 · Intelligent object tracking using object-identifying code

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- Number: US 11,122,210 B2
- Document ID: US11122210B2
- Status: Granted
- Kind: B2
- Application number: 16/747,383
- Filed: 2020-01-20
- Published: 2020-05-14
- Granted: 2021-09-14
- Earliest claimed: 2018-07-02
- Assignees: Hangzhou Taro Positioning Technology Co., Ltd.
- Applicants: Hangzhou Taro Positioning Technology Co., Ltd.
- Inventors: Hao Qian
- Web page: https://patentgrep.com/patent/US11122210B2

## CPC

- H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
- F16M 11/041: {Allowing quick release of the apparatus}
- F16M 11/10: around a horizontal axis {(F16M11/12 takes precedence)}
- F16M 11/18: with mechanism for moving the apparatus relatively to the stand
- F16M 11/2014: {around a vertical axis (F16M11/2035 takes precedence)}
- F16M 13/00: Other supports for positioning apparatus or articles (heads thereof F16M11/02 {; undercarriages thereof F16M11/20} ; adapted to be stuck in the ground A45F3/44 {; sockets or holders for poles or posts E04H12/22}); Means for steadying hand-held apparatus or articles {(supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025)}
- F16M 13/04: for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)}
- G01S 1/7038: {Signal details}
- G01S 3/786: the desired condition being maintained automatically
- G01S 17/66: Tracking systems using electromagnetic waves other than radio waves
- G03B 17/561: {Support related camera accessories}
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/254: involving subtraction of images
- G06T 7/73: using feature-based methods
- H04N 7/188: {Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position (signal generation from motion picture films H04N5/253)}
- H04N 23/10: for generating image signals from different wavelengths
- H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
- H04N 23/55: Optical parts specially adapted for electronic image sensors; Mounting thereof
- H04N 23/56: provided with illuminating means
- H04N 23/60: Control of cameras or camera modules
- H04N 23/61: based on recognised objects
- H04N 23/62: Control of parameters via user interfaces
- H04N 23/6815: {by distinguishing pan or tilt from motion}
- H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture
- H04N 23/74: by influencing the scene brightness using illuminating means
- F16M 11/205: {the axis of rotation intersecting in a single point, e.g. gimbals}
- F16M 11/2064: {for tilting and panning (F16M11/2078 takes precedence)}
- F16M 11/242: {by spreading of the legs (F16M11/32 takes precedence)}
- F16M 2200/041: for balancing rotational movement of the head
- F16M 2200/044: for balancing rotational movement of the undercarriage
- G06T 2207/10016: Video; Image sequence
- G06T 2207/10152: Varying illumination
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method for object tracking. The method includes capturing a sequence of images of a scene, detecting, by a hardware processor based on a pattern of local light change across the sequence of images, a light source in the scene, comparing, by the hardware processor in response to detecting the light source, a location of the light source in at least one image of the sequence of images and a target position within the at least one image to generate a result, and generating, by the hardware processor based on the result, a control signal for changing a field-of-view of a camera device such that the light source substantially aligns with the target position within the field-of-view, wherein the light source is configured to produce an object-identifying code.

## Claims

### Claim 1

A method for object tracking, comprising:
capturing, using a single optical sensor of a camera device, a sequence of images of a scene;
detecting, based on a pattern of local light change across the sequence of images captured by the single optical sensor, a light source in the scene;
comparing, in response to detecting the light source, a location of the light source in at least one image of the sequence of images and a target position within the at least one image to generate a result; and
generating, based on the result, a control signal for changing a field-of-view of the camera device such that the light source aligns with the target position within the field-of-view,
wherein the light source is configured to produce an object-identifying code,
wherein the pattern of local light change identifies at least a first pixel position in the at least one image as the location of the light source,
wherein the target position corresponds to at least a second pixel position in the at least one image, and
wherein the result comprises a pixel position displacement between at least the first pixel position of the light source and at least the second pixel position of the target position.

### Claim 2 (depends on 1)

The method of claim 1,
wherein the light source is at least one selected from a group consisting of a local light emitter attached to an object in the scene and a reflective region of the object emitting an object-reflected light in response to a remote light emitter separate from the object, and
wherein the pattern of local light change across the sequence of images is produced by at least one selected from a group consisting of the local light emitter, the remote light emitter, and a geometric reflection pattern of the reflective region.

### Claim 3 (depends on 1)

The method of claim 1,
wherein the pattern of local light change comprises at least one selected from a group consisting of a light intensity change, a light wavelength change, a repetition rate of the light intensity change, and a repetition rate of the light wavelength change.

### Claim 4 (depends on 1)

The method of claim 1, further comprising:
extracting the object-identifying code from the pattern of local light change; and
identifying, from a plurality of light sources associated with a plurality of objects in the scene, the detected light source based on the extracted object-identifying code to select the object from the plurality of objects.

### Claim 5 (depends on 4)

The method of claim 4,
sending the control signal to a camera device holder where the camera device is mounted;
detecting, in response to sending the control signal, an alignment between the target position and the light source within the field-of-view; and
further capturing, using the camera device and in response to detecting the alignment, an additional image of the scene,
wherein the selected object appears in the additional image at the target position,
wherein the field-of-view of the camera device is changed, by the camera device holder in response to the control signal, in a direction opposite to the pixel position displacement,
wherein the alignment corresponds to an overlap between the light source and at least the second pixel position within the field-of-view, and
wherein the light source is attached to an object in the scene such that the object overlaps at least the second pixel position in the additional image.

### Claim 6 (depends on 5)

The method of claim 5,
wherein the sequence of images and the additional image are part of a sequence of video frames in a video recording.

### Claim 7 (depends on 1)

The method of claim 1, further comprising:
analyzing the sequence of images to determine the location of the light source in the at least one image and a movement of the light source across the sequence of images,
wherein generating the control signal is further based on the movement.

### Claim 8

A tracking controller for a camera device, comprising:
a computer processor; and
memory storing instructions, when executed, causing the computer processor to:
capture a sequence of images of a scene, wherein the sequence of images is captured by a single optical sensor of the camera device;
detect, based on a pattern of local light change across the sequence of images captured by the single optical sensor, a light source in the scene;
compare, in response to detecting the light source, a location of the light source in at least one image of the sequence of images and a target position within the at least one image to generate a result; and
generate, based on the result, a control signal for changing a field-of-view of a camera device such that the light source aligns with the target position within the field-of-view,
wherein the light source is configured to produce an object-identifying code,
wherein the pattern of local light change identifies at least a first pixel position in the at least one image as the location of the light source,
wherein the target position corresponds to at least a second pixel position in the at least one image, and
wherein the result comprises a pixel position displacement between at least the first pixel position of the light source and at least the second pixel position of the target position.

### Claim 9 (depends on 8)

The system of claim 8,
wherein the light source is at least one selected from a group consisting of a local light emitter attached to an object in the scene and a reflective region of the object emitting an object-reflected light in response to a remote light emitter separate from the object, and
wherein the pattern of local light change across the sequence of images is produced by at least one selected from a group consisting of the local light emitter, the remote light emitter, and a geometric reflection pattern of the reflective region.

### Claim 10 (depends on 8)

The system of claim 8,
wherein the pattern of local light change comprises at least one selected from a group consisting of a light intensity change, a light wavelength change, a repetition rate of the light intensity change, and a repetition rate of the light wavelength change.

### Claim 11 (depends on 8)

The system of claim 8, the instructions, when executed, further causing the computer processor to:
extract the object-identifying code from the pattern of local light change; and
identify, from a plurality of light sources associated with a plurality of objects in the scene, the detected light source based on the extracted object-identifying code to select the object from the plurality of objects.

### Claim 12 (depends on 11)

The system of claim 11, the instructions, when executed, further causing the computer processor to:
send the control signal to a camera device holder where the camera device is mounted;
detect, in response to sending the control signal, an alignment between the target position and the light source within the field-of-view; and
further capture, using the camera device and in response to detecting the alignment, an additional image of the scene,
wherein the selected object appears in the additional image at the target position,
wherein the field-of-view of the camera device is changed, by the camera device holder in response to the control signal, in a direction opposite to the pixel position displacement,
wherein the alignment corresponds to an overlap between the light source and at least the second pixel position within the field-of-view, and
wherein the light source is attached to an object in the scene such that the object overlaps at least the second pixel position in the additional image.

### Claim 13 (depends on 12)

The system of claim 12,
wherein the sequence of images and the additional image are part of a sequence of video frames in a video recording.

### Claim 14 (depends on 8)

The system of claim 8, the instructions, when executed, further causing the computer processor to:
analyze the sequence of images to determine the location of the light source in the at least one image and a movement of the light source across the sequence of images,
wherein generating the control signal is further based on the movement.

### Claim 15

A non-transitory computer readable medium storing instructions for object tracking, the instructions, when executed by a computer processor, comprising functionality for:
capturing a sequence of images of a scene, wherein the sequence of images is captured by a single optical sensor of a camera device;
detecting, based on a pattern of local light change across the sequence of images captured by the single optical sensor, a light source in the scene;
comparing, in response to detecting the light source, a location of the light source in at least one image of the sequence of images and a target position within the at least one image to generate a result; and
generating, based on the result, a control signal for changing a field-of-view of a camera device such that the light source aligns with the target position within the field-of-view,
wherein the light source is configured to produce an object-identifying code,
wherein the pattern of local light change identifies at least a first pixel position in the at least one image as the location of the light source,
wherein the target position corresponds to at least a second pixel position in the at least one image, and
wherein the result comprises a pixel position displacement between at least the first pixel position of the light source and at least the second pixel position of the target position.

### Claim 16 (depends on 15)

The non-transitory computer readable medium of claim 15,
wherein the light source is at least one selected from a group consisting of a local light emitter attached to an object in the scene and a reflective region of the object emitting an object-reflected light in response to a remote light emitter separate from the object, and
wherein the pattern of local light change across the sequence of images is produced by at least one selected from a group consisting of the local light emitter, the remote light emitter, and a geometric reflection pattern of the reflective region.

### Claim 17 (depends on 15)

The non-transitory computer readable medium of claim 15,
wherein the pattern of local light change comprises at least one selected from a group consisting of a light intensity change, a light wavelength change, a repetition rate of the light intensity change, and a repetition rate of the light wavelength change.

### Claim 18 (depends on 15)

The non-transitory computer readable medium of claim 15, the instructions, when executed by the computer processor, further comprising functionality for:
extracting the object-identifying code from the pattern of local light change; and
identifying, from a plurality of light sources associated with a plurality of objects in the scene, the detected light source based on the extracted object-identifying code to select the object from the plurality of objects.

### Claim 19 (depends on 18)

The non-transitory computer readable medium of claim 18, the instructions, when executed by the computer processor, further comprising functionality for:
sending the control signal to a camera device holder where the camera device is mounted;
detecting, in response to sending the control signal, an alignment between the target position and the light source within the field-of-view; and
further capturing, using the camera device and in response to detecting the alignment, an additional image of the scene,
wherein the selected object appears in the additional image at the target position,
wherein the field-of-view of the camera device is changed, by the camera device holder in response to the control signal, in a direction opposite to the pixel position displacement,
wherein the alignment corresponds to an overlap between the light source and at least the second pixel position within the field-of-view, and
wherein the light source is attached to an object in the scene such that the object overlaps at least the second pixel position in the additional image.

### Claim 20 (depends on 15)

The non-transitory computer readable medium of claim 15, the instructions, when executed by the computer processor, further comprising functionality for:
analyzing the sequence of images to determine the location of the light source in the at least one image and a movement of the light source across the sequence of images,
wherein generating the control signal is further based on the movement.