Vision Follower

A vision-based target following algorithm is available to be used from the Controller component. The method requires Detections or Trackings information from an external source, this can be provided using an object detection ML model.

Note

If the method is used with Trackings information as an input, then the controller would follow the given object with the same ID. In case of using Detections, the controller would follow the first detected object with the same given label in the scene.

See also

See a full example of using the vision follower from the controller component along with a vision component here.

Supported Motion Models

• ACKERMANN

• DIFFERENTIAL_DRIVE

• OMNI

Supported Inputs

• Detections

• Trackings

Parameters and Default Values

Name	Type	Default	Description
control_time_step	float	0.1	Time interval between control actions. Must be between 1e-4 and 1e6.
control_horizon	int	2	Number of future steps to consider in control. Must be between 1 and 1000.
tolerance	float	0.1	Acceptable error margin for target tracking. Must be between 1e-6 and 1e3.
target_distance	Optional[float]	None	Desired distance to maintain from target. No validation constraints.
target_search_timeout	int	30	Maximum number of steps allowed for target search before timeout. Must be between 0 and 1000.
target_search_pause	int	2	Number of steps to pause between search actions. Must be between 0 and 1000.
target_search_radius	float	0.5	Radius of the search area for target detection. Must be between 1e-4 and 1e4.
rotation_multiple	float	1.0	Scaling factor for rotation commands. Must be between 1e-9 and 1.0.
speed_depth_multiple	float	0.7	Scaling factor for speed based on depth information. Must be between 1e-9 and 1.0.
min_vel	float	0.01	Minimum allowable velocity. Must be between 1e-9 and 1e9.
enable_search	bool	True	Flag to enable or disable search behavior when the target is lost.