Patent Grant
9008487
This specification relates generally to video-conferencing control applications, and more particularly to methods for directing a video-camera platform to aim along selected lines-of-sight.
Video-conferencing allows virtual participants, who are at a location that is remote from a meeting room, to view real-time video images of a meeting. However, these virtual participants usually do not have control over the real-time video images they receive. For example, virtual participants generally cannot direct the video-camera at the remote location to aim along a particular line-of-sight to place particular objects or people within the camera's field-of-view.
While providing the video-camera with a wider field-of-view may provide a way to capture more of the meeting room within a particular frame, there is always a wider view than will be supported by a video-camera. As such, it is likely that at least some elements of the meeting room will not be constantly visible in a real-time video image. Further, wide-angle lenses may introduce image distortion that, unless corrected by software that requires additional computational resources, can make certain elements within real-time video images unclear.
In an alternative solution, video-cameras may be automatically aimed upon detecting motion, or the sound of a voice or object within a meeting room. These solutions typically require a controller to aim a video-camera along selected lines-of-sight. However, this type of controller is usually situated at the same location as the video-camera and the motion/sound source (e.g., within or adjacent to the meeting room) and is generally not accessible to virtual participants.
Methods, apparatuses and computer-readable media for creating and utilizing a spatial bookmark are presented. In an embodiment, a method for controlling, from a near location, the view of a video-camera platform located at a remote location based on a spatial bookmark is provided. A user at the near location who is in communication with a video-camera platform at a remote location can aim the video-camera platform along a line-of-sight (LOS) associated with a spatial bookmark (e.g., toward saved locations of interest) by selecting an image presented on a screen that is representative of objects or persons at the remote location.
In accordance with an embodiment, an action is performed at a near location which causes a spatial bearing parameter corresponding to a real-time video image captured by a video-camera platform at a remote location to be stored in a computer-readable memory, wherein the video-camera platform has a controllable LOS. An action is performed at the near location that designates to a computer an image displayed on a screen, wherein the image is representative of the real-time video image, thereby causing the computer to retrieve the spatial bearing parameter from the computer-readable memory, and an action is performed causing the computer to aim the video-camera platform along a LOS, wherein the video-camera platform captures a real-time video image that is received at a screen for display at the near location. The spatial bearing parameter may comprise at least one of a pan coordinate and a tilt coordinate.
In accordance with an embodiment, the video-camera platform may be in communication with a robotic device at the remote location, and the action causing the computer to aim the video-camera platform along the LOS causes the robotic device to perform an action based on a real-time video image captured by the video-camera platform. The video-camera platform may also be in communication with a computer application, wherein the action causing the computer to aim the video-camera platform along the selected LOS causes the computer application to perform an action based on a real-time video image captured by the video-camera platform.
In accordance with an embodiment, the spatial bearing parameter is automatically determined based on one of a detected sensor signal at the remote location or user-selected scanning criteria.
In accordance with an embodiment, information indicative of spatial bearing parameter is caused to be stored in the computer-readable memory, and the information indicative of the spatial bearing parameter is caused to be transmitted, wherein the information indicative of the spatial bearing parameter causes the video-camera platform to aim along the LOS.
In accordance with an embodiment, an index of information indicative of a spatial bearing parameter is stored upon user-selection, and the index is transmitted along with an instruction to record the corresponding spatial bearing parameter. The index is transmitted upon the designation of the selected image that corresponds to the spatial bearing parameter of the LOS to the remote location.
In accordance with an embodiment, a spatial bearing parameter is stored at the near location upon user-selection, and is transmitted to the remote location upon the designation of the selected image. Control signals also may be transmitted from the near location for aiming the video-camera platform along the LOS.
In accordance with an embodiment, real-time video images captured by a video-camera platform at a remote location are displayed at a near location, wherein the video-camera platform has a controllable LOS. While displaying the real-time video images, one or more user-generated inputs are received at respective view-selection times. A spatial bearing parameter of the video-camera platform obtained at each respective view-selection time is recorded in response to the respective user-generated inputs. Images representative of the real-time video images are displayed at each view-selection time, and in response to at least one user-generated input that designates a selected one of the images, the video-camera platform is automatically aimed along a LOS corresponding to the spatial bearing parameter.
These and other advantages of the present disclosure will be apparent to those of ordinary skill in the art by reference to the following detailed description and the accompanying drawings.
A video-camera platform can be utilized to establish a virtual meeting (i.e., a video-conference) between two locations that are remote (e.g., not within a line-of-sight) from each other. As such, virtual meeting participants, who are at a first (near) location, can view real-time video images of a meeting taking place at a second (remote) location. The embodiments herein allow a user (e.g., a virtual meeting participant) at a near location to view real-time video images produced by a video-camera platform at a remote location and to create spatial (i.e., physical space) bookmarks based on the real-time video images.
A spatial bookmark (also referred to herein as a bookmark) can be used to mark and recall an area of physical space, such as an area of physical space presented in a field-of-view of a real-time video image. A bookmark can be defined based on a coordinate system, such as by Cartesian coordinates or by a pan coordinate (corresponding to a rotation about a vertical axis) and a tilt coordinate (corresponding to a rotation about a horizontal axis). For example, a pan and tilt (p, t) coordinate pair can represent pan and tilt angles referenced to a fixed home position of a video-camera platform. As such, a bookmark may comprise a spatial bearing parameter, such as a reference to a pan and tilt coordinate pair, as well as other video-camera platform control data (e.g., focus, zoom, light settings, etc.). A bookmark can be transmitted to direct a video-camera platform to aim along a line-of-sight corresponding to a spatial bearing parameter (e.g., pan and tilt coordinate pair) of the bookmark. Further, the video-camera platform may be additionally directed based on the control data of the bookmark. As such, a user at a near location can perform an action that causes a video-camera platform at a remote location to be aimed along a particular line-of-sight (LOS). Therefore, creating a bookmark may overcome the need to locally or manually aim a video-camera platform based on a particular area of interest.
Areas of physical space (spatial locations), as viewed from the perspective of a video-camera platform, that include participants and objects of interest within a meeting room may be saved as bookmarks. For example, several meeting participants may be seated around tables and other objects of interest, such as projector screens and whiteboards. Real-time video images produced by a video-camera platform within the meeting room (at a remote location) can be presented on a screen at a near location. In one embodiment, these real-time video images can be presented on the screen as one or more still images or as a short motion-video clip that may show an approximation of what would be seen in a real-time video image. In another embodiment, one or more icons representing a participant or object of interest located within the field-of-view of a real-time video image can be generated and presented on the screen. Upon presentation, each of the real-time video images, still images and icons can be selected by a user to create a bookmark that can be recorded and utilized to automatically aim the video-camera platform along a LOS corresponding to a spatial bearing parameter (e.g., the pan and tilt coordinate pair) of the bookmark.
Network 106 can be a public network (e.g., the Internet), a private network (e.g., and enterprise intranet) or a combination of public and private networks. As such, one or more interconnected components of network 106 can include both public network components (e.g., public data centers) and private network components (e.g., enterprise data centers). For example, network 106 may comprise one or more interconnected data nodes, backend components and computer terminals, such as computer terminal 108.
System 100 further includes a video-camera platform 110 (e.g., a pan/tilt platform) that can support controllable pan/tilt motion and/or mobility. For example, a video-camera platform may include a conventional pan/tilt video-camera, a network-connected video-camera, a video-camera mounted on a mobile robotic platform, or the like. As such, a video-camera platform can be understood to include any combination of a video-camera and circuitry for various applications. Further, while a video-camera platform implementation is exemplary, it also should be noted that other devices, robots and computer applications associated with video or fixed-frame cameras are equally suitable for implementing the various embodiments.
Computer terminal 108, in combination with computer-readable memory 112, may be configured to execute a controller procedure to allow a user at a near location to create a spatial bookmark based on images received from a video-camera platform 110 at a remote location. For example, display screen 114 at near location 102 may be configured to present for selection a real-time video image 116 (or, alternatively, a still image or icon representing a real-time video image) received from video-camera platform 110. Upon selection of real-time video image 116 by a user, a bookmark 118 constituting a spatial bearing parameter 119 (e.g., a reference to a pan and tilt coordinate pair of image 116) and, optionally, additional data 120 (e.g., control data associated with image 116 such as camera focus settings, aperture settings, etc.) and a representation (I′) 121 of image 116 (e.g., a thumbnail image), may be stored locally in memory 112 or transmitted via network 106 for storage, such as in a cloud computing storage node 122. Upon storage of bookmark 118, computer terminal 108, in combination with computer-readable memory 112 (or cloud computing storage node 122), may be configured to execute a controller procedure to retrieve the bookmark 118 and effectively allow a user at near location 102 to automatically aim video-camera platform 110 along a LOS corresponding to the spatial bearing parameter 119 of bookmark 118.
In one embodiment, GUI 200 may include a side window display area 214 for organizing a plurality of images 210 or icons 212. As such, a user may select an image 210 or icon 212 representative of a bookmarked real-time video image by clicking or touching (e.g., via a computer mouse or touch-sensitive interface) an image 210 or icon 212 within the side window display area 214 or by selecting an image 210 or icon 212 using a gesture recognized by the camera. Likewise, user may select an icon 212 overlaying the real-time video image 202 by clicking or touching an icon 212 within the image display area. In one embodiment, the user also may select to overwrite the images with new images.
In one embodiment, upon transmission of a user-selection to video-camera platform 110, video-camera platform 110 can be automatically aimed along a LOS corresponding to a spatial bearing parameter 119 of the bookmarked real-time video image represented by the selected image 210 or icon 212. For example, a computer, at near location 102, remote location 104 or elsewhere (e.g., within network 106) may transmit the spatial bearing parameter 119 and, optionally, control signals 120 of the bookmarked real-time video image to video-camera platform 110. Upon receiving the spatial bearing parameter 119 and control signals 120, video-camera platform 110 is directed to aim along a LOS corresponding to a spatial bearing parameter 119. The real-time images from video-camera platform 110 then may be received for display within GUI 200.
Alternatively, a sensor configured to be sensitive based on motion, sound, pressure, visual or other parameters may be utilized for automatically creating a spatial bookmark. For example, one or more chairs in a meeting room may be equipped with pressure (i.e., force) sensors configured to detect occupancy. A sensor-equipped chair may detect when it is occupied and automatically direct video-camera platform 110 to aim along a line-of-sight in the direction of the occupied chair. The real-time video images then may be relayed to GUI 200 for display, and a user-generated input may be received that designates a selected one of the real-time video images to create a spatial bookmark. In one embodiment, GUI 200 may present a virtual map 216 of remote location 104 in addition to the real-time video images. Virtual map 216 can be diagram including the physical space shown in real-time video images, wherein a highlighted chair 218 may indicate that a chair within the real-time video image is occupied. A spatial bookmark then may be automatically or manually created based on the virtual map information. As such, when a person stands up and moves to sit on a different chair, a new position is sensed and the video-camera platform at the remote location may be configured to aim along a LOS based on the new position. In a meeting room setting, all occupied chairs may be sensed and automatically presented to be configured as spatial bookmarks. These spatial bookmarks then may be automatically updated during the course of a video-conference session, such as when some people get up and leave the room or new people enter the room and take a seat. For example, video-camera platform 110 may be directed to face only the occupied chairs based on the automatically updated spatial bookmarks.
Likewise, as illustrated in
In one embodiment, the spatial bearing parameter may be automatically determined based on user-selected scanning criteria. For example, computer terminal 108 may be configured to transmit control signals to video-camera platform 110 to scan a specified angular range of motion and automatically create a specified number of spatial bookmarks within the scanned angular range of motion. As shown in
At 402, an action is performed at the near location that designates to a computer an image displayed on a screen, wherein the image corresponds to the spatial bearing parameter, thereby causing the computer to retrieve the spatial bearing parameter from the computer-readable memory. For example, a user at GUI 200 may click or touch a bookmarked real-time video image (created upon the action at 400) to designate the image to computer terminal 108.
At 404, an action is performed causing the computer to aim the video-camera platform along a LOS corresponding to the spatial bearing parameter, wherein the video-camera platform captures real-time video images that may be received at a screen for display at the near location at 406. Further, a user may select a bookmarked image or icon to aim a remote location video-camera along a LOS, or may manually adjust the spatial bearing parameter of one or more bookmarked images. For example, a user may adjust the spatial bearing parameter of a bookmarked real-time video image based on a real-time video image received from the video-camera platform for display at a near location.
Alternatively, the video-camera may be in communication with a mobile robotic device at the remote location, and performing the action causing the computer to aim the video-camera along a LOS at 404 may cause the mobile robotic device to perform an action based on the captured field-of-view. In another example, the video-camera may be in communication with a computer application, wherein performing the action at 404 causes the computer to aim the video-camera along a LOS causes the computer application to perform an action based on the captured field-of-view.
A spatial bearing parameter may be stored in any combination of near and remote locations relative to the video-camera platform. For example, information indicative of the spatial bearing parameter may be caused to be stored in a computer-readable memory at a near location relative to a video-camera located at a remote location. Upon user-selection, the information indicative of the spatial bearing parameter is caused to be transmitted, wherein the information indicative of the spatial bearing parameter causes the video-camera to aim along a LOS.
In another example, an index of information indicative of a spatial bearing parameter is stored upon user-selection at a near location, and the index is transmitted along with an instruction to record a corresponding spatial bearing parameter to a remote location (e.g., the location of the video-camera platform). For example, the index may be transmitted upon the designation of a bookmarked image that corresponds to the spatial bearing parameter.
In yet another example, a spatial bearing parameter may be stored at the near location upon user-selection and, upon the designation of a bookmarked image, the spatial bearing parameter may be transmitted to a remote location. In one embodiment, control signals for aiming the video-camera along a LOS may be transmitted from the near location along with the spatial bearing parameter (e.g., the spatial bookmark may be transmitted from the near location).
In various embodiments, the method steps described herein, including the method steps described in
In addition to the preceding examples, the embodiments herein also may be utilized with respect to other applications. For example, a spatial bookmark may be utilized in robotic applications such as directing a mobile tele-presence robot to return to a particular physical space. A robot may navigate to a location, such as a location within an office, and create a spatial bookmark for the location. The spatial bookmark may then be stored and presented to a user such that, upon selection by a user, the robot can be directed to return to the bookmarked location from a different location.
Systems, apparatus, and methods described herein may be implemented using digital circuitry, or using one or more computers using well-known computer processors, memory units, storage devices, computer software, and other components. Typically, a computer includes a processor for executing instructions and one or more memories for storing instructions and data. A computer may also include, or be coupled to, one or more mass storage devices, such as one or more magnetic disks, internal hard disks and removable disks, magneto-optical disks, optical disks, etc.
Systems, apparatus, and methods described herein may be implemented using computers operating in a client-server relationship. Typically, in such a system, the client computers are located remotely from the server computer and interact via a network. The client-server relationship may be defined and controlled by computer programs running on the respective client and server computers.
Systems, apparatus, and methods described herein may be used within a network-based cloud computing system. In such a network-based cloud computing system, a server or another processor that is connected to a network communicates with one or more client computers via a network. A client computer may communicate with the server via a network browser application residing and operating on the client computer, for example. A client computer may store data on the server and access the data via the network. A client computer may transmit requests for data, or requests for online services, to the server via the network. The server may perform requested services and provide data to the client computer(s). The server may also transmit data adapted to cause a client computer to perform a specified function, e.g., to perform a calculation, to display specified data on a screen, etc. For example, the server may transmit a request adapted to cause a client computer to perform one or more of the method steps described herein, including one or more of the steps of
Systems, apparatus, and methods described herein may be implemented using a computer program product tangibly embodied in an information carrier, e.g., in a non-transitory machine-readable storage device, for execution by a programmable processor; and the method steps described herein, including one or more of the steps of
A high-level block diagram of an exemplary computer that may be used to implement systems, apparatus and methods described herein is illustrated in
Processor 601 may include both general and special purpose microprocessors, and may be the sole processor or one of multiple processors of computer 600. Processor 601 may include one or more central processing units (CPUs), for example. Processor 601, data storage device 602, and/or memory 603 may include, be supplemented by, or incorporated in, one or more application-specific integrated circuits (ASICs) and/or one or more field programmable gate arrays (FPGAs).
Data storage device 602 and memory 603 each include a tangible non-transitory computer readable storage medium. Data storage device 602, and memory 603, may each include high-speed random access memory, such as dynamic random access memory (DRAM), static random access memory (SRAM), double data rate synchronous dynamic random access memory (DDR RAM), or other random access solid state memory devices, and may include non-volatile memory, such as one or more magnetic disk storage devices such as internal hard disks and removable disks, magneto-optical disk storage devices, optical disk storage devices, flash memory devices, semiconductor memory devices, such as erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), digital versatile disc read-only memory (DVD-ROM) disks, or other non-volatile solid state storage devices.
Input/output devices 605 may include peripherals, such as a printer, scanner, display screen, etc. For example, input/output devices 605 may include a display device such as a cathode ray tube (CRT), liquid crystal display (LCD) monitor or projector for displaying information to the user, a keyboard, and a pointing device such as a mouse, a trackball or a camera including image processing by which the user can provide input to computer 600.
Any or all of the systems and apparatus discussed herein may be implemented using a computer such as computer 600.
One skilled in the art will recognize that an implementation of an actual computer or computer system may have other structures and may contain other components as well, and that
The foregoing Detailed Description is to be understood as being in every respect illustrative and exemplary, but not restrictive, and the scope of the invention disclosed herein is not to be determined from the Detailed Description, but rather from the claims as interpreted according to the full breadth permitted by the patent laws. It is to be understood that the embodiments shown and described herein are only illustrative of the principles of the present disclosure and that various modifications may be implemented by those skilled in the art without departing from the scope and spirit of this disclosure. Those skilled in the art could implement various other feature combinations without departing from the scope and spirit of this disclosure.
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| Number | Date | Country | |
|---|---|---|---|
| 20130141573 A1 | Jun 2013 | US |
