A General Calibration Method for Dual-PTZ Cameras Based on Feedback Parameters

Abstract

With the increasing application of dual-PTZ (Pan-Tilt-Zoom) cameras in intelligent unmanned systems, research regarding their calibration methods is becoming more and more important. The intrinsic and extrinsic parameters of dual-PTZ cameras continuously change during rotation and zoom, resulting in difficulties in obtaining precise calibration. Here, we propose a general calibration method for dual-PTZ cameras with variable focal length and posture under the following conditions: the optical center of the camera does not coincide with the horizontal and pitch rotation axes, and the horizontal and pitch rotation axes are not perpendicular to each other. We establish a relationship between the intrinsic and extrinsic parameters and the feedback parameters (pan, tilt, zoom value) of dual-PTZ cameras by fitting and calculating previous calibration results acquired at specific angles and zoom values using Zhang’s calibration method. Subsequently, we derive the intrinsic and extrinsic parameter calculation formula at arbitrary focal length and posture based on the camera’s feedback parameters. The experimental results show that intrinsic and extrinsic parameters computed using the proposed method can better meet precision requirements compared with the ground truth calibrated using Zhang’s method. The average focal length error is less than 4%, the cosine similarity of the rotation matrix between the left and right cameras is more than 99.8%, the translation vector error is less than 1%, and the recalculated Euler angle errors are less than 1 degree. Our work can quickly and accurately obtain intrinsic and extrinsic parameters during the use of the dual-PTZ camera.