Feedforward control for human-in-the-loop camera systems

Cameras are often mounted on platforms that can move like rovers, booms, gantries and aircraft. People operate such platforms to capture desired views of a scene or a target. To avoid collisions with the environment and occlusions, such platforms often possess redundant degrees-of-freedom. As a result, manual manipulating of such platforms demands much skill. Visual-servoing some degrees-of-freedom may reduce operator burden and improve tracking performance. This concept, which we call human-in-the-loop visual-servoing, is demonstrated And applies a α → β → γ filter and feedforward controller to a broadcast camera boom.