Abstract
Master-slave camera systems – consisting of a wide-angle master camera and an actively controllable pan-tilt-zoom camera – provide a large field of view, allowing monitoring the full situational context, as well as a narrow field of view, to capture sufficient details. Unconstrained calibration of such a system is a non-trivial task. In this paper a fully automatic and adaptive configuration method is proposed. It learns a motor map relating image coordinates from the master view to motor commands of the slave camera. First, a rough initial configuration is estimated by registering images from the slave camera onto the master view. In order to be operational in poorly textured environments, like hallways, the motor map is online refined by utilizing correspondences originating from moving objects. The accuracy is evaluated in different environments, as well as in the visual and the infrared spectrum. The overall accuracy is significantly improved by the online refinement.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Badri, J., Tilmant, C., Lavest, J.-M., Pham, Q.-C., Sayd, P.: Camera-to-Camera Mapping for Hybrid Pan-Tilt-Zoom Sensors Calibration. In: Ersbøll, B.K., Pedersen, K.S. (eds.) SCIA 2007. LNCS, vol. 4522, pp. 132–141. Springer, Heidelberg (2007)
Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-Up Robust Features (SURF). Computer Vision and Image Understanding 110(3), 346–359 (2008)
Begelfor, E., Werman, M.: How to Put Probabilities on Homographies. Transactions on Pattern Analysis and Machine Intelligence 27(10), 1666–1670 (2005)
Bellotto, N., Benfold, B., Harland, H., Nagel, H.H., Pirlo, N., Reid, I., Sommerlade, E., Zhao, C.: Cognitive Visual Tracking and Camera Control. Computer Vision Image Understanding 116(3), 457–471 (2012)
Bodensteiner, C., Hebel, M., Arens, M.: Accurate Single Image Multi-Modal Camera Pose Estimation. In: Kutulakos, K.N. (ed.) ECCV 2010 Workshops, Part II. LNCS, vol. 6554, pp. 296–309. Springer, Heidelberg (2012)
Brauer, J., Hübner, W., Arens, M.: Generative 2D and 3D Human Pose Estimation with Vote Distributions. In: Proc. of 8th International Symposium on Visual Computing, Rethymnon, Crete, Greece (2012)
Davis, J., Chen, X.: Calibrating Pan-Tilt Cameras in Wide-Area Surveillance Networks. In: Proc. 9th IEEE Int. Conf. on Computer Vision, pp. 144–149 (2003)
Del Bimbo, A., Dini, F., Lisanti, G., Pernici, F.: Exploiting Distinctive Visual Landmark Maps in Pan-Tilt-Zoom Camera Networks. Computer Vision Image Understanding 114(6), 611–623 (2010)
Dollar, P., Wojek, C., Schiele, B., Perona, P.: Pedestrian Detection: An Evaluation of the State of the Art. IEEE Transactions on Pattern Analysis and Machine Intelligence 34(4), 743–761 (2012)
Everts, I., Sebe, N., Jones, G.: Cooperative Object Tracking with Multiple PTZ Cameras. In: 14th Int. Conf. on Image Analysis and Processing, pp. 323–330 (2007)
Horaud, R., Knossow, D., Michaelis, M.: Camera Cooperation for Achieving Visual Attention. Machine Vision and Applications 16(6), 1–2 (2006)
Hu, W., Tan, T., Wang, L., Maybank, S.: A Survey on Visual Surveillance of Object Motion and Behaviors. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews 34(3), 334–352 (2004)
IJsselmuiden, J., Stiefelhagen, R.: Towards High-Level Human Activity Recognition through Computer Vision and Temporal Logic. In: Dillmann, R., Beyerer, J., Hanebeck, U.D., Schultz, T. (eds.) KI 2010. LNCS, vol. 6359, pp. 426–435. Springer, Heidelberg (2010)
Jain, A., Kopell, D., Kakligian, K., Wang, Y.F.: Using Stationary-Dynamic Camera Assemblies for Wide-area Video Surveillance and Selective Attention. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, vol. 1, pp. 537–544 (2006)
Li, J., Allinson, N.M.: A Comprehensive Review of Current Local Features for Computer Vision. Neurocomputing 71, 1771–1787 (2008)
Liao, H.C., Pan, M.H., Hwang, H.W., Chang, M.C., Po-Cheng, C.: An Automatic Calibration Method Based on Feature Point Matching for the Cooperation of Wide-Angle and Pan-Tilt-Zoom Cameras. Information Technology and Control 40(1), 41–47 (2011)
Mikolajczyk, K., Schmid, C.: A Performance Evaluation of Local Descriptors. Transactions on Pattern Analysis and Machine Intelligence 27(10), 1615–1630 (2005)
Mohanty, K., Gellaboina, M.: A Semi-Automatic Relative Calibration of a Fixed and PTZ Camera Pair for Master-Slave Control. In: 3rd European Workshop on Visual Information Processing, pp. 229–234 (2011)
Morel, J.M., Yu, G.: ASIFT: A New Framework For Fully Affine Invariant Image Comparison. SIAM Journal on Imaging Sciences 2(2), 438–469 (2009)
Münch, D., Michaelsen, E., Arens, M.: Supporting Fuzzy Metric Temporal Logic Based Situation Recognition by Mean Shift Clustering. In: Glimm, B., Krüger, A. (eds.) KI 2012. LNCS, vol. 7526, pp. 233–236. Springer, Heidelberg (2012)
Ozuysal, M., Calonder, M., Lepetit, V., Fua, P.: Fast Keypoint Recognition Using Random Ferns. Transactions on Pattern Analysis and Machine Intelligence 32(3), 448–461 (2010)
Sinha, S.N., Pollefeys, M.: Pan-Tilt-Zoom Camera Calibration and High-Resolution Mosaic Generation. Computer Vision and Image Understanding 103(3), 170–183 (2006); special issue on Omnidirectional Vision and Camera Networks
Szwoch, G., Dalka, P., Ciarkowski, A., Szczuko, P., Czyzewski, A.: Visual Object Tracking System Employing Fixed and PTZ Cameras. Intelligent Decision Technologies 5(2), 177–188 (2011)
Tian, Y.L., Brown, L., Hampapur, A., Lu, M., Senior, A., Shu, C.F.: IBM Smart Surveillance System (S3): Event Based Video Surveillance System With an Open and Extensible Framework. Machine Vision and App. 19(5-6), 315–327 (2008)
Tsai, R.: A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-The-Shelf TV Cameras and Lenses. IEEE Journal of Robotics and Automation 3(4), 323–344 (1987)
Wu, Z., Radke, R.: Keeping a Pan-Tilt-Zoom Camera Calibrated. Transactions on Pattern Analysis and Machine Intelligence 99, 1 (2012)
Yi, R.D.X., Gao, J., Antolovich, M.: Novel Methods for High-Resolution Facial Image Capture Using Calibrated PTZ and Static Cameras. In: 2008 IEEE International Conference on Multimedia and Expo, pp. 45–48 (2008)
Zhou, X., Collins, R.T., Kanade, T., Metes, P.: A Master-Slave System to Acquire Biometric Imagery of Humans at Distance. In: First ACM SIGMM International Workshop on Video Surveillance, IWVS 2003, pp. 113–120 (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Münch, D., Grosselfinger, AK., Hübner, W., Arens, M. (2013). Automatic Unconstrained Online Configuration of a Master-Slave Camera System. In: Chen, M., Leibe, B., Neumann, B. (eds) Computer Vision Systems. ICVS 2013. Lecture Notes in Computer Science, vol 7963. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39402-7_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-39402-7_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-39401-0
Online ISBN: 978-3-642-39402-7
eBook Packages: Computer ScienceComputer Science (R0)