Abstract:
A camera tracking system allows a camera to lock onto and follow a target object dynamically and automatically, without direct human intervention, including when the object moves erratically or unpredictably.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
       [0001]    This application is a continuation-in-part of application Ser. No. 14/120,285, filed 15 May 2014, the entirety of which is hereby incorporated by reference. 
     
    
     FIELD 
       [0002]    The disclosure relates to systems and methods that allow a camera to continuously follow or track a moving object, and in particular to systems and methods including wearable tracking devices that enable the camera to follow an object wearing the wearable device. 
       DESCRIPTION OF THE RELATED ART 
       [0003]    One of the challenges in video recording of live events is the difficulty of following an object, in many cases a person, which may move erratically or unpredictably. By way of non-limiting example, it is often desired in recording or broadcasting sporting events to follow or track a particular athlete, whose movements are not known in advance and often may be unpredictable to the camera operator. When the camera is operated manually by a human user, there is thus a significant time lag between the target object&#39;s movements and the movement of the camera following the target object. As a result, the target object may not always be in the image frame, or in the center of the image frame. In addition, a human camera operator may attempt to compensate for the time lag by moving the camera in a rapid or uneven fashion, which can be distracting and disorienting to the viewer. Moreover, following a continuously moving object for a significant, uninterrupted length of time can be taxing on the human camera operator. It is thus desirable to be able to direct the camera to follow the target object automatically, without direct human intervention. 
         [0004]    Means for determining three-dimensional coordinates of an object, e.g. along an X axis, a Y axis, and a Z axis, are known and described in the art. For example, U.S. Pat. No. 6,061,644 to Leis (“Leis”) discloses and claims a system for determining the spatial position and orientation of each of a plurality of bodies, comprising at least three markers affixed to each one of the bodies in a predetermined, relative geometric relationship. The markers of Leis respond to an activation signal by emitting energy, which is then detected by an energy detector and compared against the predetermined geometric relationship between the markers. Because the system of Leis requires multiple markers arranged in a precise geometric pattern, it is poorly suited for tracking objects which move rapidly or erratically and thus may be prone to disrupting the marker pattern. The multiple markers also add weight and cost to the system. Moreover, the embodiments disclosed by Leis use infrared light for communication between the markers and the energy detector and therefore require an unobstructed line of sight between the markers and the detector, making the system of Leis unsuitable for situations in which the target object may, for example, abruptly move behind another object. 
         [0005]    Imaging systems which locate, recognize, follow, or track an object are also known and described in the art. For example, U.S. Pat. No. 8,638,375 to Amor Molares et al. (“Amor Molares”) discloses and claims an integrated field-portable device comprising an image capture device configured to capture an image of a survey target area and a position determination system for determining a position of the integrated field-portable device. The system of Amor Molares is directed to identifying the positions of objects, particularly orbiting satellites, whose movement paths are well known relative to the geographic position of the camera itself, and so would not be useful for analyzing the unpredictable movement of a much smaller object and directing a camera accordingly. The target objects of the Amor Molares system do not communicate their positions to the system in real time, and so the system cannot account for deviations from a presumed movement path. 
       SUMMARY 
       [0006]    There is a need in the art for a camera tracking system that allows a camera to lock onto and follow a target object, and that overcomes the limitations of the prior art, including but not limited to those discussed above. 
         [0007]    The present disclosure relates to a system that allows a camera to lock onto and follow a target object dynamically and automatically, without direct human intervention, including when the object moves unpredictably. The system can automatically correct for errors in positioning that accrue during operation. The system comprises a wearable tracking device which collects and communicates position data; a camera with wireless communication capability; and a communications module, which allows a user to monitor and operate the system remotely. 
         [0008]    The present disclosure provides a camera tracking system, comprising a camera module; a communications module; and a tracking module, disposed on or within a target object. The camera module comprises a camera; at least one motor, controlling an orientation of the camera; and a camera controller with a wireless communication interface, controlling the at least one motor. The communications module comprises an application for a smartphone, the application allowing a user of the system to initialize, activate, and deactivate the system. The tracking module comprises a coordinate determination device, measuring one or more quantities of the tracking module with respect to each of at least two axes at regular time intervals, at least one of the quantities being selected from the group of position, velocity, and acceleration; a tracking controller with a wireless communication interface, transmitting coordinate information to the camera controller via a wireless signal, the coordinate information comprising the quantities measured by the coordinate determination device; and a rechargeable battery, powering the coordinate determination device and the tracking controller. The camera controller converts the coordinate information into target coordinates and commands the servo motors to reorient the camera such that the camera remains focused on the target coordinates at all times during operation of the system. 
         [0009]    In embodiments, the camera controller transmits images captured by the camera to the smartphone, and the application allows the user to view the images in real time. 
         [0010]    In embodiments, the application monitors a signal strength of the wireless signal. 
         [0011]    In embodiments, the tracking module is part of a wearable worn by the target object. 
         [0012]    In embodiments, the application reminds the user to re-initialize the system at preselected time intervals. 
         [0013]    In embodiments, the tracking microcontroller transmits a beacon signal at least at preselected time intervals. In an embodiment, the beacon signal is at least one of a light signal and a sound signal. In another embodiment, the system is re-initialized when the camera microcontroller detects the beacon signal. In another embodiment, the tracking microcontroller transmits the beacon continuously. 
         [0014]    In embodiments, the system further comprises a second tracking module, wherein the quantities measured by the coordinate determination devices of each of the tracking modules comprise both absolute quantities and quantities relative to the other tracking module. 
         [0015]    In embodiments, the coordinate determination device comprises an accelerometer and at least one of the quantities is acceleration. 
         [0016]    In embodiments, the coordinate determination device comprises a magnetometer and measures at least one of the quantities relative to a reference direction of the magnetometer. 
         [0017]    In embodiments, the coordinate determination device measures the quantities with respect to a first axis and a second axis only, and the target coordinates comprise a preselected fixed value along a third axis. 
         [0018]    In embodiments, the tracking module is disposed within, or on the surface of, a game projectile. 
         [0019]    The disclosure also provides a method for continuously tracking an object with a camera, comprising disposing a tracking target on or within the object, the tracking target comprising an accelerometer and a wireless transmitter; defining a Cartesian coordinate system having three dimensions x, y, z; defining a position (x 0 , y 0 , z 0 ) of the tracking target at a start time t 0  as an origin (0, 0, 0) of the coordinate system; the accelerometer measuring, at n time intervals after t 0 , an acceleration along each of the three dimensions a x,n , a y,n , a z,n , of the tracking target relative to the origin, each time interval having a preselected length t int ; the wireless transmitter transmitting the accelerations a x,n , a y,n , a z,n  to a microcontroller associated with the camera; the microcontroller calculating, for each time interval, a velocity along each of the three dimensions v x,n , v y,n , v z,n  of the tracking target relative to the origin; the microcontroller calculating, for each time interval, a coordinate position (x n , y n , z n ) of the tracking target; and the microcontroller commanding, for each time interval, at least one servo motor controlling an orientation of the camera to reorient the camera such that the camera is focused on the coordinate position of the tracking target. The microcontroller calculates the velocities v x,n , v y,n , v z,n  of the tracking target relative to the origin according to the equations: 
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         [0000]    The microcontroller calculates the coordinate position (x n , y n , z n ) of the tracking target according to the equations: 
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         [0020]    In embodiments, t int  is between about 0.5 milliseconds and about 1/24 second. 
         [0021]    In embodiments, the method further comprises redefining the origin after a preselected number of time intervals. In an embodiment, the step of redefining the origin is accomplished by the tracking target emitting a beacon signal after the preselected number of time intervals and the microcontroller detecting the beacon signal and defining the origin as the coordinate position of the tracking target when the tracking target emitted the beacon signal, the beacon signal comprising at least one of a light signal and a sound signal. 
         [0022]    In embodiments, the tracking target is part of a wearable worn by the target object. 
         [0023]    In embodiments, the object is a game projectile. 
         [0024]    These and other advantages will be apparent from the disclosure contained herein. 
         [0025]    As used herein, “at least one,” “one or more,” and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together. 
         [0026]    It is to be noted that the term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more,” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising,” “including,” and “having” can be used interchangeably. 
         [0027]    The embodiments and configurations described herein are neither complete nor exhaustive. As will be appreciated, other embodiments of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         [0028]      FIG. 1  is a block diagram of a general configuration of a camera tracking system according to embodiments of the present disclosure; 
           [0029]      FIG. 2  is a block diagram of a camera module of the camera tracking system illustrated in  FIG. 1 ; 
           [0030]      FIG. 3  is a block diagram of a communications module of the camera tracking system illustrated in  FIG. 1 ; 
           [0031]      FIG. 4  is a block diagram of a tracking module of the camera tracking system illustrated in  FIG. 1 ; and 
           [0032]      FIG. 5  is a flow diagram of a method for continuously tracking an object with a camera according to embodiments of the present disclosure. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0033]    As used herein, the term “game projectile” means a ball, missile, or any other such body which occupies physical space and can be touched and thereby felt, i.e. a tangible body, which a player or participant in a game or sport throws, rolls, shoves, impels, propels, projects, or otherwise puts into motion, so as to achieve an objective set forth by the rules of the game or sport. Examples of “game projectiles” as that term is used herein include, but are not limited to, arrows, baseballs and softballs, basketballs, billiard balls, boomerangs, bowling balls, cricket balls, croquet balls, curling stones, darts, discuses, balls for use in various types of football, golf balls, hockey pucks, horseshoes, javelins, lacrosse balls, racquetballs, shots, shuttlecocks, squash balls, table tennis balls, tennis balls, and volleyballs. It should also be appreciated that the term “game projectile” can be used to refer to projectiles or bodies not involved in games. For instance, a stage actor, prop, or other movable object may also be considered a “game projectile.” 
         [0034]    Referring now to  FIG. 1 , a camera tracking system  100  comprises a camera module  200 , a communications module  300 , and a tracking module  400 . The tracking module  400  wirelessly transmits a coordinate information signal  499  to the camera module  200 . The coordinate information signal  499  comprises data identifying a location of the tracking module  400  and may be of any suitable type and frequency. By way of non-limiting example, the coordinate information signal  499  may be a Bluetooth signal, a HiperLAN signal, a Wi-Fi or other IEEE 802.11-compliant signal, or a ZigBee or other IEEE 802.15.4-compliant signal. By way of non-limiting example, the coordinate information signal  499  may have a frequency of between about 902 MHz and about 928 MHz, between about 2.400 GHz and about 2.500 GHz, between about 5.725 GHz and 5.875 GHz, or another ISM band frequency. The camera module  200  wirelessly transmits a camera module signal  299  to the communications module  300 . The camera module signal  299  may be of any suitable type and frequency. By way of non-limiting example, the camera module signal  299  may be a Bluetooth signal, a HiperLAN signal, a Wi-Fi or other IEEE 802.11-compliant signal, a ZigBee or other IEEE 802.15.4-compliant signal, or a GSM signal. By way of non-limiting example, the camera module signal  299  may have a frequency of between about 902.0 MHz and about 928.0 MHz, between about 2.4000 GHz and about 2.5000 GHz, between about 5.7250 GHz and 5.8750 GHz, between about 869.2 MHz and about 893.8 MHz, between about 925.0 MHZ and about 960.0 MHz, between about 1.8052 GHz and about 1.8798 GHz, between about 1.9302 GHz and about 1.9898 GHZ, another ISM band frequency, or another GSM band frequency. The communications module  300  wirelessly transmits a control signal  399  to the camera module  200 . The control signal  399  allows a user to control the camera tracking system  100  and may, by way of non-limiting example, comprise commands from the user to the camera module  200  to initialize, activate, or deactivate the camera tracking system  100 . The control signal  399  may be of any suitable type and frequency. By way of non-limiting example, the control signal  399  may be a Bluetooth signal, a HiperLAN signal, a Wi-Fi or other IEEE 802.11-compliant signal, a ZigBee or other IEEE 802.15.4-compliant signal, or a GSM signal. By way of non-limiting example, the control signal  399  may have a frequency of between about 902.0 MHz and about 928.0 MHz, between about 2.4000 GHz and about 2.5000 GHz, between about 5.7250 GHz and 5.8750 GHz, between about 869.2 MHz and about 893.8 MHz, between about 925.0 MHZ and about 960.0 MHz, between about 1.8052 GHz and about 1.8798 GHz, between about 1.9302 GHz and about 1.9898 GHZ, another ISM band frequency, or another GSM band frequency. The camera module  200  interprets the coordinate information signal  499  and reorients accordingly, such that the camera module  200  remains oriented toward the tracking module  400  at all times during operation of the camera tracking system  100 , even when a direct line of sight between the camera module  200  and the tracking module  400  is obstructed. Thus, images or video captured by the camera module  200  will always keep the tracking module  400  in view. 
         [0035]    Referring now to  FIG. 2 , the camera module  200  comprises a camera  210 , at least one servo motor  220 , and a camera microcontroller  230  with a wireless communication interface  235 . The camera microcontroller  230  controls the servo motor  220 , which in turn controls the orientation of the camera  210 . The camera microcontroller  230  receives the coordinate information signal  499  via the wireless communication interface  235 , converts the coordinate information into target coordinates, and commands the servo motor  220  to reorient the camera  210  such that the camera  210  remains focused on the target coordinates at all times during operation of the camera tracking system  100 . In embodiments, the camera microcontroller  230  may receive coordinate information signals  499  from multiple tracking modules  400  simultaneously and, by comparing the coordinate information signals  499  against each other, more accurately calculate the target coordinates for a particular tracking module  400 . In further embodiments, the camera microcontroller  230  may calculate target coordinates in two dimensions only, e.g. along an X axis and a Y axis, and define a target coordinate in a third dimension, e.g. along a Z axis, as a preselected fixed value, thereby defining a fixed plane along which only two coordinates are changed. In these embodiments, the camera microcontroller  230  may constrain the servo motor  220  to reorient the camera  210  along two axes only, such that the camera  210  remains focused at all times on points defining a plane corresponding to the fixed value along a third axis. 
         [0036]    Referring now to  FIG. 3 , the communications module  300  comprises an application  310  for a smartphone  320 , which may be, by way of non-limiting example, an iPhone or an Android device. The application  310  allows the user to input commands to initialize, activate, or deactivate the camera tracking system  100 ; the user&#39;s commands are transmitted by the smartphone  320  to the wireless communication interface  235  of the camera module  200  via the control signal  399 . In the embodiment illustrated in  FIG. 3 , the application  310  comprises a “Track” button  311 , which the user may push to initialize and activate the camera tracking system  100 , and a “Stop” button  312 , which the user may push to deactivate the camera tracking system  100 . In this embodiment, the application  310  is displaying the video  319  captured by the camera  210 , which the smartphone  320  receives from the wireless communication interface  235  of the camera module  200  via the camera module signal  299 . In embodiments, the application  310  may also monitor the strength of one or more of the camera module signal  299 , the control signal  399 , and the coordinate information signal  499 . In further embodiments, the application  310  may remind the user to re-initialize the camera tracking system  100  at preselected time intervals to eliminate accumulated error in the target coordinates calculated by the camera microcontroller  230 . Alternatively or additionally, the application  310  may determine that the accumulated error in the target coordinates has exceeded a predetermined threshold (e.g., by determining that a beacon transmitted by the tracking device is not being captured by the camera module  200 ) in which case the application  310  may prompt the user thereof to re-calibrate the camera module  200 . 
         [0037]    Referring now to  FIG. 4 , the tracking module  400  comprises a coordinate determination device  410 , a tracking microcontroller  420  with a wireless communication interface  425 , and a rechargeable battery  430 . At regular time intervals, the coordinate determination device  410  measures one or more quantities of the tracking module  400  with respect to each of at least two axes. The quantities measured by the coordinate determination device  410  include at least one of the position, the velocity, and the acceleration of the tracking module, and in particular embodiments the type of instrument comprised by the coordinate determination device  410  may be selected based on the quantities to be measured. By way of non-limiting example, the coordinate determination device  410  may comprise an accelerometer to measure acceleration, as illustrated in  FIG. 4 , or a magnetometer to measure changes in position relative to a reference axis. The tracking microcontroller  420  transmits the quantities measured by the coordinate determination device as the coordinate information signal  499  via the wireless communication interface  425 . The rechargeable battery  430  powers the coordinate determination device  410  and the tracking microcontroller  420 . The tracking module  400  may be disposed on a wearable worn by a target object. By way of non-limiting example, the target object may be an athlete involved in a sporting contest, and the tracking module  400  may be disposed on the athlete&#39;s uniform, person, or equipment. Alternatively, and further by way of non-limiting example, the tracking module  400  may be disposed within or on a surface of a game projectile for the purpose of making it easier for a television viewer of a sporting event to see and follow the movement of the game projectile. Although not illustrated in  FIG. 4 , the tracking module  400  may further comprise a beacon, adapted to transmit a beacon signal by light and/or sound, which may be detected and interpreted by the camera microcontroller  230  as a prompt to re-initialize the camera tracking system  100  to eliminate accumulated error in the calculated target coordinates, or which may be used by the camera tracking system  100  in a similar manner as the coordinate information system  499  as a secondary means of coordinate determination. The beacon signal may be transmitted either periodically or continuously. It may also be possible to communicate the coordinate information signal  499  directly to the smartphone  320  and/or for the smartphone  320  to receive the beacon signal transmitted by the tracking module  400 . 
         [0038]    In some embodiments, the camera tracking system  100  may comprise multiple tracking modules  400 . The coordinate determination device  410  of each of the multiple tracking modules  400  may measure both absolute quantities and quantities relative to the other tracking modules  400 . In some of these embodiments, each of the multiple tracking modules  400  may be disposed on a different target object. By way of non-limiting example, the system may comprise three tracking modules  400 , with two tracking modules disposed on the uniform, person, or equipment of each of two athletes and the third tracking module disposed on a game projectile. 
         [0039]    In further embodiments, the application  310  may allow the user to command the camera module  200  to track a different one of multiple tracking modules  400  via the control signal  399 . In these embodiments, each of the multiple tracking modules  400  may correspond to one of multiple target objects. Thus, the camera microcontroller  230  may receive multiple coordinate information signals  499 , corresponding to multiple target objects, simultaneously, and may command the servo motor  220  to reorient the camera  210  such that the camera  210  remains focused on target coordinates corresponding to a particular one of the target objects at all times. When the camera microcontroller  230  receives a command to track a different tracking module  400  via the control signal  399 , the camera microcontroller  230  may command the servo motor  220  to reorient the camera  210  such that the camera  210  changes its focus from a first set of target coordinates to a second set of target coordinates. By way of non-limiting example, the user may be able to command the camera module  200  to cease tracking a tracking module  400  disposed on the uniform, person, or equipment of an athlete and begin tracking a tracking module  400  disposed on a game projectile. 
         [0040]    Referring now to  FIG. 5 , a method  500  for continuously tracking an object with a camera comprises a disposing step  510 , a coordinate system defining step  520 , an origin defining step  530 , a measuring step  540 , a transmitting step  550 , a velocity calculating step  560 , a coordinate calculating step  570 , and a commanding step  580 . The measuring step  540 , the transmitting step  550 , the velocity calculating step  560 , the coordinate calculating step  570 , and the commanding step  580  are repeated after each of n time intervals of length t int  elapse. In embodiments, t int  may be selected to optimize the suitability of the method for a particular use, e.g. by selecting shorter t int  when the target object moves or acts rapidly or when the camera is a high-frame rate camera, as may be understood by those of ordinary skill in the art. By way of non-limiting example, recording for conventional television broadcasts with a frame rate of 24 fps may require a t int  of no more than 1/24 second, or about 42 milliseconds, while high-speed recording for sporting events, scientific investigation of rapid natural phenomena, and the like may call for t int  to be about 1 millisecond or less. Systems and equipment suitable for practicing the method of the present disclosure are available to practice the method with either of these t int  values or any t int  values therebetween, as well as t int  values less than and more than these values. In particular embodiments, t int  may be about 1 millisecond, or about 2.5 milliseconds. A practitioner of the method of this disclosure, being of ordinary skill in the art, will be able to select an appropriate value of n on the basis of t int  and the length of the time the practitioner wishes to track the object with the camera. 
         [0041]    In the disposing step  510 , a tracking target comprising an accelerometer and a wireless transmitter is disposed on or within the object. In the coordinate system defining step  520 , a Cartesian coordinate system having three dimensions x, y, z is defined. In the origin defining step  530 , the position (x 0 , y 0 , z 0 ) of the tracking target at a start time t 0  defines the origin (0, 0, 0) of the coordinate system. In the measuring step  540 , the accelerometer of the tracking target measures an acceleration along each of the three dimensions a x,n , a y,n , a z,n  of the tracking target relative to the origin. In the transmitting step  550 , the wireless transmitter of the tracking target transmits the accelerations a x,n , a y,n , a z,n  to a microcontroller associated with the camera. In the velocity calculating step  560 , the microcontroller calculates a velocity along each of the three dimensions v x,n , v y,n , v z,n  of the tracking target relative to the origin, according to the equations: 
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         [0000]    In the coordinate calculating step  570 , the microcontroller calculates a coordinate position (x n , Y n , z n ) of the tracking target according to the equations: 
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         [0042]    In the commanding step  580 , the microcontroller commands at least one servo motor controlling the orientation of the camera to reorient the camera such that the camera is focused on the coordinate position of the tracking target. In embodiments, the method may also comprise an origin redefining step  590  after a preselected number of time intervals to eliminate accumulated error in the calculations. The redefining step  590  may be accomplished by the tracking target emitting a beacon signal and the microcontroller detecting the beacon signal and defining the origin as the coordinate position of the tracking target when the tracking target emitted the beacon signal. The beacon signal may comprise at least one of a light signal and a sound signal. In embodiments, the tracking target may be part of a wearable worn by the target object, or the target object may be a game projectile. 
         [0043]    The disclosure illustratively disclosed herein suitably may be practiced in the absence of any element which is not specifically disclosed herein. It is apparent to those skilled in the art, however, that many changes, variations, modifications, other uses, and applications of the disclosure are possible, and also changes, variations, modifications, other uses, and applications which do not depart from the spirit and scope of the disclosure are deemed to be covered by the invention, which is limited only by the claims which follow. 
         [0044]    The foregoing discussion of the disclosure has been presented for purposes of illustration and description. The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description of the Invention, for example, various features of the disclosure are grouped together in one or more embodiments for the purpose of streamlining the disclosure. The features of the embodiments of the disclosure may be combined in alternate embodiments other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the following claims are hereby incorporated into this Detailed Description of the Invention, with each claim standing on its own as a separate preferred embodiment of the invention. 
         [0045]    Moreover, though the description of the disclosure has included description of one or more embodiments and certain variations and modifications, other variations, combinations, and modifications are within the scope of the invention, e.g. as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative embodiments to the extent permitted, including alternate, interchangeable, and/or equivalent structures, functions, ranges, or steps to those claimed, whether or not such alternate, interchangeable, and/or equivalent structures, functions, ranges, or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.