Subject tracking systems for a movable imaging system

Abstract

A method is provided for controlling a movable imaging assembly having a movable platform and an imaging device coupled to and movable relative to the movable platform. The method includes receiving user inputs that define an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device. The user inputs include a horizontal distance, a circumferential position, and a horizontal distance that define the MIA position, and include a horizontal frame position and a vertical frame position that define the frame position. The method further includes predicting a future position of the target for a future time, and moving the MIA to be in the MIA position at the future time and moving the imaging device for the target to be in the frame position for an image frame captured at the future time.

What is claimed is: 
     
         1 . A method for controlling a movable imaging assembly (MIA) having a movable platform and an imaging device coupled to and movable relative to the movable platform, the method comprising:
 receiving user inputs defining an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device, the user inputs including a horizontal distance, a circumferential position, and a horizontal distance that define the MIA position, and including a horizontal frame position and a vertical frame position that define the frame position;   predicting a future position of the target for a future time; and   moving the MIA to be in the MIA position relative to the target at the future time and moving the imaging device relative to the movable platform for the target to be in the frame position for an image frame captured at the future time.   
     
     
         2 . A method for controlling a movable imaging assembly (MIA) having a movable platform and an imaging device coupled to and movable relative to the movable platform, the method comprising:
 receiving user inputs defining an MIA position relative to a target and a frame position of the target within image frames captured by the imaging device;   predicting a future position of the target for a future time; and   moving the MIA to be in the MIA position relative to the target at the future time and moving the imaging device relative to the movable platform for the target to be in the frame position for an image frame captured at the future time.   
     
     
         3 . The method according to  claim 2 , wherein the MIA position defined by the user inputs includes one or more of a horizontal distance, a circumferential position, or a horizontal distance between the MIA and the target. 
     
     
         4 . The method according to  claim 3 , wherein the user inputs include each of the horizontal distance, the circumferential position, and the horizontal distance between the MIA and the target. 
     
     
         5 . The method according to  claim 4 , wherein the user inputs include fixed values for the horizontal distance, the circumferential position, and the horizontal distance are fixed values defined by the user inputs. 
     
     
         6 . The method according to  claim 3 , wherein the user inputs include a fixed value for at least one of the horizontal distance, the circumferential position, or the horizontal distance, and the user inputs include a choreographed flight pattern by which another of the horizontal distance, the circumferential position, or the horizontal distance is varied. 
     
     
         7 . The method according to  claim 3 , wherein the user inputs include a frame of reference by which the circumferential position is defined according to one of fixed or dependent on a trajectory of the target. 
     
     
         8 . The method according to  claim 2 , wherein the user inputs include one or more of a horizontal frame position or a vertical frame position of the target in the image frame. 
     
     
         9 . The method according to  claim 8 , wherein the user inputs include a fixed value for at least one of the horizontal frame position of the vertical frame position. 
     
     
         10 . The method according to  claim 8 , wherein the one or more of the horizontal frame position or the vertical frame position form a region or a bounding box within the image frame. 
     
     
         11 . The method according to  claim 8 , wherein the horizontal frame position or the vertical frame position is one of restricted or guided according to a width of the image frame. 
     
     
         12 . A method for controlling a movable imaging assembly (MIA) having a movable platform and an imaging device coupled to and movable relative to the movable platform, the method comprising:
 predicting a future zone position at a future time for one or more restricted zones that are defined relative to a target and in which the MIA is restricted from traveling;   predicting whether intended flight instructions will result in the MIA traveling into the one or more restricted zones at the future time; and   controlling the MIA according to the intended flight instructions if the MIA is predicted to not travel into the one or more restricted zones with the intended flight instructions, or controlling the MIA according to modified flight instructions if the MIA is predicted to travel into the one or more restricted zones with the intended flight instructions.   
     
     
         13 . The method according to  claim 12 , wherein the modified flight instructions are predicted to not result in the MIA traveling into the one or more restricted zones at the future time. 
     
     
         14 . The method according to  claim 12 , wherein predicting the future zone position of the one or more restricted zones includes predicting a future target position of the target. 
     
     
         15 . The method according to  claim 14 , wherein the future target position of the target is predicted according to past target positions of the target. 
     
     
         16 . The method according to  claim 15 , wherein the past target positions are determined according to past image frames captured by the imaging device. 
     
     
         17 . The method according to  claim 12 , wherein the one or more restricted zones include one or more of a first restricted zone defined by a maximum distance from the target, a second restricted zone defined by a minimum distance from the target, and a third restricted zone defined above the target. 
     
     
         18 . The method according to  claim 17 , wherein the one or more restricted zones include the first restricted zone that is outside the maximum distance and the second restricted zone that is inside the minimum distance. 
     
     
         19 . The method according to  claim 18 , wherein the one or more restricted zones include the third restricted zone that is a conical region above the target. 
     
     
         20 . The method according to  claim 17 , wherein the one or more restricted zones include the third restricted zone that is defined according to a field of view of the imaging device containing the target.