Vision tracking system and method using drive commands

Vision tracking system for target following using feedforward compensation based on drive commands

This technology is a vision tracking system that independently controls a first body responsible for the mobile robot's movement and a second body equipped with a vision sensor. It calculates predicted movement information from the first body's drive commands and uses this to calibrate the orientation of the second body in real time.

In conventional systems, the robot's drive unit and vision sensor are fixed to the same body, causing the target to move out of the field of view or resulting in motion blur during movement, which degrades recognition rates and accuracy.

This technology proposes a method of generating control signals for the second body by combining predicted movement information derived from the first body's drive commands with actual movement data from sensors such as inertial measurement units. By using image data as a feedback signal to measure disturbances, it can actively calibrate the orientation of the second body. It can be applied to mobile surveillance robots, camera drones, and autonomous vehicles, significantly improving image recognition accuracy by maintaining a stable focus on targets even while in motion.

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Key Features:

• A first drive unit that receives drive commands to operate the first body and provides them for generating predicted movement information
• A control unit that generates first movement information representing the predicted movement of the first body based on the drive commands
• A configuration that generates control signals to operate the second body using the first movement information
• A second drive unit connected between the first and second bodies that operates the second body according to the control signals

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This invention was developed with support from the Ministry of Knowledge Economy for the development of u-Robot HRI solutions and core component technologies.