Patent ID: 9742974
Date: 2017-08-22
CPC Classifications: G06K,G06T,H04N

Claim:
1. A method for controlling an aim-point motion of a camera system to track a target object in motion comprising: determining a first position and a first motion of an aim-point of the camera system in a local coordinate system from a second position and a second motion of a camera orientation in a camera system coordinate system; determining a third position and a third motion of a target aim-point in said local coordinate system dynamically based on an estimated motion of said target object and an estimated future position of said target object; determining a reference aim-point motion in said local coordinate system by calculating  is a feedforward control portion determined by  where K is a scaling factor and  is the third motion of the target aim-point, and where  is a feedback control portion determined by a combination of feedback control elements including  where k wherein said reference aim-point motion substantially compensates a first error between said first position and said third position towards zero, and said reference aim-point motion substantially compensates a second error between said first motion and said third motion towards zero; transforming said reference aim-point motion to a desired camera orientation motion in said camera system coordinate system; and controlling the motion of said camera system at said desired camera orientation motion.