# US 2019/0317531 A1 · Autonomous Tracking Based On Radius

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- Number: US 2019/0317531 A1
- Document ID: US20190317531A1
- Status: Published application
- Kind: A1
- Application number: 16/397,187
- Filed: 2019-04-29
- Published: 2019-10-17
- Earliest claimed: 2017-02-28
- Assignees: GoPro, Inc.
- Applicants: GoPro, Inc.
- Inventors: Benjamin Tankersley
- Web page: https://patentgrep.com/patent/US20190317531A1

## CPC

- G05D 1/101: {specially adapted for aircraft}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/12: Target-seeking control
- G05D 1/46: Control of position or course in three dimensions [3D]
- G05D 1/683: Intercepting moving targets (docking at a base station G05D1/661)
- G05D 1/686: Maintaining a relative position with respect to moving targets, e.g. following animals or humans (for pointing payloads towards targets G05D1/689; involving controlling the position or course of two or more vehicles G05D1/69)
- G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672)
- H04N 7/185: {from a mobile camera, e.g. for remote control}
- H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- B64U 30/20: Rotors; Rotor supports
- B64U 50/19: using electrically powered motors
- B64U 2101/30: for imaging, photography or videography
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/20: Remote controls
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

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.

## Claims

### Claim at position 1

1-20. (canceled)

### Claim 21

A vehicle comprising:
a camera;
a radius tracking controller configured to:
determine a radius of a virtual sphere around the vehicle based on the camera, and
determine an updated target position of the vehicle based on a comparison between a vehicle position of the vehicle and a previous target position of the vehicle and based on the radius; and
a vehicle controller interface configured to move the vehicle towards the updated target position.

### Claim 22 (depends on 21)

The vehicle of claim 21, wherein the radius of the virtual sphere is determined based on a configuration of the camera and a velocity of the vehicle.

### Claim 23 (depends on 22)

The vehicle of claim 22, wherein the configuration of the camera includes any of orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

### Claim 24 (depends on 21)

The vehicle of claim 21, wherein the radius tracking controller is further configured to:
set the previous target position to be the updated target position in response to determining that a distance between the vehicle position and the previous target position is larger than the radius.

### Claim 25 (depends on 21)

The vehicle of claim 21, wherein the radius tracking controller is further configured to:
determine an intersection between a path between the previous target position and a subject position of an image captured by the camera; and
determine a surface of the virtual sphere around the vehicle in response to determining that a distance between the vehicle position and the previous target position of the vehicle is less than the radius.

### Claim 26 (depends on 25)

The vehicle of claim 25, further comprising:
a subject position estimation subsystem configured to estimate the subject position and to provide the estimated subject position to the radius tracking controller.

### Claim 27 (depends on 25)

The vehicle of claim 25, further comprising:
a communication subsystem configured to receive information describing the subject position and to provide the subject position to the radius tracking controller.

### Claim 28 (depends on 21)

The vehicle of claim 21, further comprising:
a telemetric subsystem configured to determine the vehicle position and to provide the vehicle position to the radius tracking controller.

### Claim 29 (depends on 21)

The vehicle of claim 21, wherein the radius tracking controller is further configured to:
determine a pitch and a heading of the camera to face an anticipated position of a subject of an image based on the updated target position, wherein the vehicle further comprises a gimbal controller securing the camera, the gimbal controller configured to situate the camera according to the pitch and the heading.

### Claim 30

A method comprising:
determining a radius of a virtual sphere around a vehicle based on a camera;
determining an updated target position of the vehicle based on a comparison between a vehicle position of the vehicle and a previous target position of the vehicle and based on the radius; and
moving the vehicle towards the updated target position.

### Claim 31 (depends on 30)

The method of claim 30, wherein the radius of the virtual sphere is determined based on a configuration of the camera and a velocity of the vehicle.

### Claim 32 (depends on 31)

The method of claim 31, wherein the configuration of the camera includes any of orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

### Claim 33 (depends on 30)

The method of claim 30, further comprising:
setting the previous target position to be the updated target position in response to determining that a distance between the vehicle position and the previous target position is larger than the radius.

### Claim 34 (depends on 30)

The method of claim 30, further comprising:
determining an intersection between a path between the previous target position and a subject position of an image captured by the camera; and
determining a surface of the virtual sphere around the vehicle in response to determining that a distance between the vehicle position and the previous target position of the vehicle is less than the radius.

### Claim 35 (depends on 30)

The method of claim 30, further comprising:
determining a pitch and a heading of the camera to face an anticipated position of a subject of an image captured by the camera based on the updated target position; and
situating the camera based on the determined pitch and the heading.

### Claim 36

An aerial vehicle comprising:
a radius tracking controller configured to:
determine a radius of a virtual sphere around the aerial vehicle based on a velocity of the vehicle, and
determine an updated target position of the aerial vehicle based on the radius and a comparison between a position of the aerial vehicle and a previous target position of the aerial vehicle; and
a vehicle controller interface module configured to move the aerial vehicle towards the updated target position of the aerial vehicle.

### Claim 37 (depends on 36)

The aerial vehicle of claim 36, further comprising:
a gimbal configured to secure a camera, wherein the radius is determined further based on a configuration of the camera.

### Claim 38 (depends on 37)

The aerial vehicle of claim 37, wherein the configuration of the camera includes any of orientation, field of view, frame rate, resolution, sensitivity to light, white balance, aperture, and exposure.

### Claim 39 (depends on 37)

The aerial vehicle of claim 37, wherein the radius tracking controller is further configured to:
determine an intersection between a path between the previous target position and a subject position of an image captured by the camera, and a surface of the virtual sphere around the aerial vehicle in response to a determination that a distance between the position of the aerial vehicle and the previous target position is less than the radius.

### Claim 40 (depends on 36)

The aerial vehicle of claim 36, wherein the radius tracking controller is further configured to:
set the previous target position to be the updated target position of the aerial vehicle in response to a determination that a distance between the position of the aerial vehicle and the previous target position is larger than the radius.