US 11,934,207 B2
Autonomous tracking based on radius
Benjamin Tankersley, San Mateo, CA (US)
Assigned to GoPro, Inc., San Mateo, CA (US)
Filed by GoPro, Inc., San Mateo, CA (US)
Filed on May 25, 2022, as Appl. No. 17/824,252.
Application 17/824,252 is a continuation of application No. 16/889,216, filed on Jun. 1, 2020, granted, now 11,372,429.
Application 16/889,216 is a continuation of application No. 16/397,187, filed on Apr. 29, 2019, granted, now 10,671,096, issued on Jun. 2, 2020.
Application 16/397,187 is a continuation of application No. 15/445,464, filed on Feb. 28, 2017, granted, now 10,317,915, issued on Jun. 11, 2019.
Prior Publication US 2022/0291699 A1, Sep. 15, 2022
Int. Cl. G05D 1/10 (2006.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01); H04N 7/18 (2006.01); H04N 23/695 (2023.01); B64U 10/10 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/101 (2013.01) [B64C 39/024 (2013.01); G05D 1/0094 (2013.01); G05D 1/12 (2013.01); H04N 7/185 (2013.01); H04N 23/695 (2023.01); B64U 10/10 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a camera;
a radius generator configured to:
dynamically generate a virtual sphere that surrounds the vehicle, and
dynamically determine a radius based on velocity data and camera configuration data;
a vehicle controller interface configured to move the vehicle towards a target position; and
a target position generator that determines the target position of the vehicle based on the radius determined by the radius generator.
 
7. A method comprising:
generating a virtual sphere around a vehicle;
determining, using a radius generator, a radius of the virtual sphere based upon velocity data of the vehicle and camera configuration data of a camera carried on the vehicle;
determining, using a target position generator, a target position of the vehicle based on the radius determined by the radius generator; and
controlling the vehicle via a vehicle controller interface that causes the vehicle to move towards the target position.
 
14. A method comprising:
generating a target position of a vehicle with a target position generator;
determining a radius of a virtual sphere surrounding the vehicle; and
controlling the vehicle via a vehicle controller interface configured to move the vehicle towards the target position,
wherein the target position generator operates in at least two states that include an out-state and an in-state; and
wherein the out-state is where a distance between a previous target position and a measured portion of the vehicle is greater than the radius of the virtual sphere.