This paper presents an innovative method for the intelligent control of light beam targeting on dynamic objects in stage space. The developed approach overcomes the limitations of traditional manual and hardware-dependent tracking systems by integrating advanced technologies, including computer vision, machine learning, and the concept of a digital twin of the scene. A key aspect of the method is the creation of a unified coordinate system that links the physical space with its digital copy, which significantly improves targeting accuracy, minimizes time delays, and enables centralized group control of multiple lighting fixtures. A Kalman filter is used to predict object trajectories in real-time, while homography matrices are employed for precise coordinate transformation between the vision systems and the robotic fixtures. Testing of the method in a real-world stage environment confirmed its high effectiveness. The average targeting error was no more than 15 cm with a maximum deviation of 29 cm (3 % of the test area scale), and stable tracking of objects moving at speeds of up to 2 m/s was demonstrated. The method shows not only high accuracy and scalability but also significant potential for collecting and representing data on scene dynamics in a digital model for analytics and decision-making.
1. Teryaev L.N., Dorokhin V.A., Podgornyi S.A., Dorokhin А.A. Digital Twin of the Stage Space. Modeling, Optimization and Information Technology. 2025;13(3). (In Russ.). https://doi.org/10.26102/2310-6018/2025.50.3.016
2. Puljiz D., Vasilache A.-G., Mende M., Hein B. Inside-Out Infrared Marker Tracking via Head Mounted Displays for Smart Robot Programming. arXiv. URL: https://arxiv.org/abs/2303.16017 [Accessed 15th September 2025].
3. Ping L., Shujie Ch., Denghui W., et al. Stage Actor Tracking Method Based on Infrared Ink Marking. Journal of Zhejiang University (Science Edition). 2025;52(1):50–58. https://doi.org/10.3785/j.issn.1008-9497.2025.01.006
4. Guo Q., Bai Sh., Dong Y., Bao N. The Automatic Tracking System of Near Stage Lighting. In: 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, 20–22 May 2016, Chongqing, China. IEEE; 2016. P. 87–90. https://doi.org/10.1109/ITNEC.2016.7560325
5. Feng Ch., Yang L., Rozenblit J.W., Beudert P. Design of a Wireless Sensor Network Based Automatic Light Controller in Theater Arts. In: 14th Annual IEEE International Conference and Workshops on the Engineering of Computer-Based Systems (ECBS'07), 26–29 March 2007, Tucson, AZ, USA. IEEE; 2007. P. 161–170. https://doi.org/10.1109/ECBS.2007.30
6. Hay T.N., Weiss S. Design and Implementation of an Automatic Followspot Tracking System. Strathprints: The University of Strathclyde institutional repository. URL: https://strathprints.strath.ac.uk/39331/1/hay04a.pdf [Accessed 15th September 2025].
7. Lv Ch., Yang L., Li M., Yin J. Stage Actor Positioning Method Based on RealSense Point Cloud. In: 2019 International Joint Conference on Information, Media and Engineering (IJCIME), 17–19 December 2019, Osaka, Japan. IEEE; 2019. P. 188–192. https://doi.org/10.1109/IJCIME49369.2019.00045
8. Zhang Y.-X., Shen Y.-R., Zhang W.-W., Zhu Z.-Q., Ma P.-F. Design of an Interactive Spatial Augmented Reality System for Stage Performance Based on UWB Positioning and Wireless Triggering Technology. Applied Sciences. 2019;9(7). https://doi.org/10.3390/app9071318
9. Hill A.J., Lane K.K., Rosenthal A.P., Gand G. Live Event Performer Tracking for Digital Console Automation Using Industry-Standard Wireless Microphone Systems. In: 135th Audio Engineering Society Convention Paper, 17–20 October 2013, New York, NY, USA. 2013. P. 1–13.
10. Bai Sh., Zhang J. Research on Stage Automatic Light-Following System Based on Trajectory Prediction. In: 2021 International Conference on Culture-Oriented Science & Technology (ICCST), 18–21 November 2021, Beijing, China. IEEE; 2021. P. 543–546. https://doi.org/10.1109/ICCST53801.2021.00118
11. Prakash D., Nigel K.G.J. Automatic Human Tracking Theatrical Spotlight. In: 2015 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS), 19–20 March 2015, Coimbatore, India. IEEE; 2015. P. 1–4. https://doi.org/10.1109/ICIIECS.2015.7192974
12. Efimov A.I., Loginov A.A., Nikiforov M.B., Novikov A.I. Postroenie matritsy gomografii na osnove proizvol'nogo kolichestva klyuchevykh tochek. In: Problemy peredachi i obrabotki informatsii v setyakh i sistemakh telekommunikatsii: Materialy 18-i Mezhdunarodnoi nauchno-tekhnicheskoi konferentsii, 26–28 October 2015, Ryazan, Russia. Ryazan: Publishing House Hot Line-Telecom; 2015. P. 137–139. (In Russ.).
13. Kruglik E.D. Machine Vision Based on OpenCV. In: Industriya 1S: Sbornik statei II regional'noi nauchno-prakticheskoi konferentsii, 28 November 2023, Bryansk, Russia. Bryansk: Bryansk State Technological University of Engineering; 2023. P. 211–217. (In Russ.).
14. Henry S., Christian J.A. Optimal DLT-Based Solutions for the Perspective-n-Point. arXiv. URL: https://arxiv.org/abs/2410.14164 [Accessed 15th September 2025].
15. Nousias G., Delibasis K.K., Maglogiannis I.G. Intelligent Sampling Consensus for Homography Estimation in Football Videos Using Featureless Unpaired Points. IEEE Access. 2025;13:187843–187857. https://doi.org/10.1109/ACCESS.2025.3627538
16. Rousseeuw P.J., Leroy A.M. Robust Regression and Outlier Detection. New York, Chichester: Wiley; 2003. 329 p.
17. Pei Y., Biswas S., Fussell D.S., Pingali K. An Elementary Introduction to Kalman Filtering. Communications of the ACM. 2019;62(11):122–133. https://doi.org/10.1145/3363294
18. Dombry C. Discrete Approximation of Stable White Noise – Application to Spatial Linear Filtering. arXiv. URL: https://arxiv.org/abs/0903.1552 [Accessed 15th September 2025].
19. Teryaev L.N., Dorokhin V.A., Evseeva E.S., Maksimenko K.M. Metod avtomaticheskoi otsenki pogreshnosti navedeniya svetovogo lucha na osnove komp'yuternogo zreniya. In: Nauchnyi forum: Tekhnicheskie i fiziko-matematicheskie nauki: Sbornik statei po materialam LXXXVIII mezhdunarodnoi nauchno-prakticheskoi konferentsii: No. 8 (88), September 2025, Moscow, Russia. Moscow: MTsNO; 2025. P. 4–11. (In Russ.).
