Abstract
This paper presents a real-time, dynamic system that uses high resolution gimbals and motorized lenses with position encoders on their zoom and focus elements to “recalibrate” the system as needed to track a target. Systems that initially calibrate for a mapping between pixels of a wide field of view (FOV) master camera and the pan-tilt (PT) settings of a steerable narrow FOV slave camera assume that the target is travelling on a plane. As the target travels through the FOV of the master camera, the slave cameras PT settings are then adjusted to keep the target centered within its FOV. In this paper, we describe a system we have developed that allows both cameras to move and extract the 3D coordinates of the target. This is done with only a single initial calibration between pairs of cameras and high-resolution pan-tilt-zoom (PTZ) platforms. Using the information from the PT settings of the PTZ platform as well as the precalibrated settings from a preset zoom lens, the 3D coordinates of the target are extracted and compared to those of a laser range finder and static-dynamic camera pair accuracies.
Highlights
Investigating the use of cooperating camera systems for real-time, high definition video surveillance to detect and track anomalies over time and adjustable fields of view is moving us towards the development of an automated, smart surveillance system
The master-slave architecture for surveillance, in which a wide field-of-view camera scans a large area for an anomaly and controls a narrow field of view camera to focus in on a particular target is commonly used in surveillance setups to track an object [1]-[3]
Due to the computational complexity arising from object identification, having such systems operate in real-time is a hurdle within itself [1] [2] [8]. These setups often use background subtraction to detect a target within the field of view (FOV) of the static camera and use a homography mapping between the pixels of the static camera to the pan/tilt (PT) settings of the slave camera to focus on the target
Summary
Investigating the use of cooperating camera systems for real-time, high definition video surveillance to detect and track anomalies over time and adjustable fields of view is moving us towards the development of an automated, smart surveillance system. Due to the computational complexity arising from object identification, having such systems operate in real-time is a hurdle within itself [1] [2] [8] These setups often use background subtraction to detect a target within the FOV of the static camera and use a homography mapping between the pixels of the static camera to the pan/tilt (PT) settings of the slave camera to focus on the target. The master camera turns off background subtraction every time it detects that it needs to move and reinitializes it after it has completed its movement This system operates in real-time, and since the encoder settings are in absolute coordinates it can potentially be used to provide a 3D reconstruction of the trajectory of the target
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