Stereo Localization Using Dual PTZ Cameras

Kumar, Sanjeev; Micheloni, Christian; Piciarelli, Claudio

doi:10.1007/978-3-642-03767-2_129

Cited by 15 publications

(8 citation statements)

References 9 publications

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“…There exist many research works about the parametric calibration method (Senior et al 2005;Jie et al 2010;Kumar et al 2009) and nonparametric calibration method (Robinson 1994;Turton et al 1994;Cui and Yuan 2009; Jin and Zhou 2015) on master-slave system that consists of PTZ and the wide-field camera.…”

Section: Related Workmentioning

confidence: 99%

DNN Based Cooperative Calibration for Master-Slave Multi-Camera Network

Hua

Zhai

Liu

2019

Proceedings of the International Conference on Advances in Computer Technology, Information Science and Communications

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Master-slave camera systems, consisting of wide-field and pan-tilt-zoom (PTZ) camera, are widely applied in surveillance. They can monitoring the wide scene, and the high-resolution details of interesting target can be captured by PTZ camera. In order to achieve this function, the accurate cooperative calibration for these system is a prerequisite. However, the nonlinear changing PTZ parameters (e.g. intrinsic and extrinsic) with pan, tilt and zoom lead to inaccurate calibration by existing methods. What's more, the process of traditional step-by-step calibration method makes accumulative error. In this paper, we provide a new end-to-end deep neural network for cooperative calibration. This network establishes a mapping relationship between pix coordinate in wide-field camera and control parameters of the PTZ camera. By this model, the control parameters of the PTZ camera can be acquired without any complex camera calibration operation. Experiments show that the proposed neural network has little calibration errors as compared to the ground truth.

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Section: Related Workmentioning

confidence: 99%

DNN Based Cooperative Calibration for Master-Slave Multi-Camera Network

Hua

Zhai

Liu

2019

Proceedings of the International Conference on Advances in Computer Technology, Information Science and Communications

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“…For a wider field of view without decreasing resolution, many active stereo systems that mount cameras on pan-tilt mechanisms have been reported [ 31 , 32 , 33 , 34 ]; they are classified into (1) multiple cameras on a single pan-tilt mechanism; and (2) multiple pan-tilt cameras, on which each camera has its pan-tilt mechanism. In the former approach, the relative geometrical relationship between cameras are fixed in a way that the camera parameters can be easily calibrated for stereo measurement; its measurable range in depth is limited because the vergence angle between cameras is fixed.…”

Section: Introductionmentioning

confidence: 99%

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

Takaki

Ishii

2017

Sensors

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This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the active vision system can function virtually as two or more tracking cameras with different views. It enables a single active vision system to act as virtual left and right pan-tilt cameras that can simultaneously shoot a pair of stereo images for the same object to be observed at arbitrary viewpoints by switching the direction of the mirrors of the active vision system frame by frame. We developed a monocular galvano-mirror-based stereo tracking system that can switch between 500 different views in a second, and it functions as a catadioptric active stereo with left and right pan-tilt tracking cameras that can virtually capture 8-bit color 512×512 images each operating at 250 fps to mechanically track a fast-moving object with a sufficient parallax for accurate 3D measurement. Several tracking experiments for moving objects in 3D space are described to demonstrate the performance of our monocular stereo tracking system.

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“…It can be seen that active zoom control could not only solve the view visibility problem, but also improve the accuracy of the features extraction from the interest object and the precision of the whole robot visual servoing system [2] . This has been widely used in the computer vision field [10, 11] . For example, Kumar et al constructed a stereo vision system through the two pant-tilt-zoom (PTZ) cameras and localized a moving target precisely in a complex and large environment [11] .…”

Section: Introductionmentioning

confidence: 99%

“…This has been widely used in the computer vision field [10,11] . For example, Kumar et al constructed a stereo vision system through the two pant-tilt-zoom (PTZ) cameras and localized a moving target precisely in a complex and large environment [11] .…”

mentioning

confidence: 99%

Depth Adaptive Zooming Visual Servoing for a Robot with a Zooming Camera

Xin

Chen

Lei

et al. 2013

International Journal of Advanced Robotic Systems

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To solve the view visibility problem and keep the observed object in the field of view (FOV) during the visual servoing, a depth adaptive zooming visual servoing strategy for a manipulator robot with a zooming camera is proposed. Firstly, a zoom control mechanism is introduced into the robot visual servoing system. It can dynamically adjust the camera's field of view to keep all the feature points on the object in the field of view of the camera and get high object local resolution at the end of visual servoing. Secondly, an invariant visual servoing method is employed to control the robot to the desired position under the changing intrinsic parameters of the camera. Finally, a nonlinear depth adaptive estimation scheme in the invariant space using Lyapunov stability theory is proposed to estimate adaptively the depth of the image features on the object. Three kinds of robot 4DOF visual positioning simulation experiments are conducted. The simulation experiment results show that the proposed approach has higher positioning precision.

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Stereo Localization Using Dual PTZ Cameras

Cited by 15 publications

References 9 publications

DNN Based Cooperative Calibration for Master-Slave Multi-Camera Network

DNN Based Cooperative Calibration for Master-Slave Multi-Camera Network

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

Depth Adaptive Zooming Visual Servoing for a Robot with a Zooming Camera

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