831 複数台カメラによる広領域場の自動追跡(G15-1 画像応用技術・移動ロボット,G15 ロボティクス・メカトロニクス)

Abstract

This paper proposes a tracking system that is equipped with active vision agents communicating with each other. We set up them at any number of places to realize an optimized tracking in a wide 3-D field. We present a dynamic calibration method, which enables us to calibrate the extrinsic parameters of cameras automatically and simultaneously. Each camera traces a common object and detects corresponding points that are used to determine extrinsic parameters. The calibrated cameras use their pan, tilt and zoom facilities and cooperatively estimate the positions of a moving object in a 3-D field.