Method for tracking movable object, tracking device, and method for controlling shooting parameters of camera

Abstract

The embodiments of the disclosure provide a method for tracking a movable object, a tracking device, and a method for controlling shooting parameters of a camera. The method includes: determining a first on duration of a camera of the tracking device, wherein the first on duration comprises a starting time and an ending time; determining a second on duration of a plurality of light emitting elements disposed on the movable object by adding a first guard time before the starting time and adding a second guard time after the ending time; turning on the light emitting elements based on the second on duration; and controlling the camera to capture a specific image of the light emitting elements in the first on duration and accordingly tracking the movable object.

What is claimed is: 
     
         1 . A method for tracking a movable object, adapted to a tracking device, comprising:
 determining a first on duration of a camera of the tracking device, wherein the first on duration comprises a starting time and an ending time;   determining a second on duration of a plurality of light emitting elements disposed on the movable object by adding a first guard time before the starting time and adding a second guard time after the ending time;   turning on the light emitting elements based on the second on duration; and   controlling the camera to capture a specific image of the light emitting elements in the first on duration and accordingly tracking the movable object.   
     
     
         2 . The method according to  claim 1 , wherein the tracking device is a head-mounted display, and the movable object is a handheld controller connected to the head-mounted display. 
     
     
         3 . The method according to  claim 1 , wherein the light emitting elements are infrared light emitting diodes. 
     
     
         4 . The method according to  claim 1 , wherein the step of tracking the movable object comprises:
 determining a pose of the movable object based on a light distribution of the light emitting elements in the specific image.   
     
     
         5 . The method according to  claim 1 , wherein before the step of controlling the movable object to turn on the light emitting elements based on the second on duration, the method further comprises:
 synchronizing with the movable object to notify that the light emitting elements should be turned on in the second on duration.   
     
     
         6 . A tracking device, comprising:
 a camera; and   a processor, coupled to the camera and configured to perform:
 determining a first on duration of the camera of the tracking device, wherein the first on duration comprises a starting time and an ending time; 
 determining a second on duration of a plurality of light emitting elements disposed on the movable object by adding a first guard time before the starting time and adding a second guard time after the ending time; 
 turning on the light emitting elements based on the second on duration; and 
 controlling the camera to capture a specific image of the light emitting elements in the first on duration and accordingly tracking the movable object. 
   
     
     
         7 . The tracking device according to  claim 6 , wherein the tracking device is a head-mounted display, and the movable object is a handheld controller connected to the head-mounted display. 
     
     
         8 . The tracking device according to  claim 6 , wherein the light emitting elements are infrared light emitting diodes. 
     
     
         9 . The tracking device according to  claim 6 , wherein the processor performs:
 determining a pose of the movable object based on a light distribution of the light emitting elements in the specific image.   
     
     
         10 . The tracking device according to  claim 6 , wherein before controlling the movable object to turn on the light emitting elements based on the second on duration, the processor further performs:
 synchronizing with the movable object to notify that the light emitting elements should be turned on in the second on duration.   
     
     
         11 . A method for dynamically controlling shooting parameters of a camera, adapted to a tracking device, comprising:
 determining a plurality of time frames, wherein the time frames comprise a plurality of first time frames and a plurality of second time frames;   controlling the camera of the tracking device to shoot a first image with a first exposure parameter in each of the first time frames and accordingly performing an environment detection;   controlling the camera of the tracking device to shoot a second image with a second exposure parameter in each of the second time frames and accordingly performing a first specific detection, wherein the second exposure parameter is lower than the first exposure parameter.   
     
     
         12 . The method according to  claim 11 , wherein the step of performing the environment detection comprises:
 performing the environment detection based on a simultaneous localization and mapping (SLAM) mechanism.   
     
     
         13 . The method according to  claim 11 , wherein the first time frames and the second time frames are interleaved with each other. 
     
     
         14 . The method according to  claim 11 , wherein a (2i+1)-th time frame of the time frames belongs to the first time frames, a (2i+2)-th time frame of the time frames belongs to the second time frames, wherein i is an index. 
     
     
         15 . The method according to  claim 11 , wherein the first specific detection is used for tracking a movable object disposed with a plurality of light emitting elements, and the method further comprises:
 determining a first on duration in each of the first time frames of the camera of the tracking device, wherein the first on duration comprises a starting time and an ending time;   determining a second on duration of a plurality of light emitting elements disposed on the movable object by adding a first guard time before the starting time and adding a second guard time after the ending time;   controlling the movable object to turn on the light emitting elements based on the second on duration; and   controlling the camera to capture a specific image of the light emitting elements in the first on duration and accordingly tracking the movable object.   
     
     
         16 . The method according to  claim 11 , wherein the time frames further comprise a plurality of third time frames, and the method further comprises:
 controlling the camera of the tracking device to shoot a third image with a third exposure parameter in each of the third time frames and accordingly performing a second specific detection, wherein the third exposure parameter is higher than the second exposure parameter.   
     
     
         17 . The method according to  claim 16 , wherein first specific detection is used for tracking a movable object, the second specific detection is used for a gesture detection. 
     
     
         18 . The method according to  claim 16 , wherein the first time frames, the second time frames, and the third time frames are interleaved with each other. 
     
     
         19 . The method according to  claim 16 , wherein a (3i+1)-th time frame of the time frames belongs to the first time frames, a (3i+2)-th time frame of the time frames belongs to the second time frames, a (3i+3)-th time frame of the time frames belongs to the third time frames, wherein i is an index.