IMM-Based Tracking and Latency Control with Off-the-Shelf IP PTZ Camera

  • Pierrick Paillet
  • Romaric Audigier
  • Frederic Lerasle
  • Quoc-Cuong Pham
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8192)


Networked Pan-Tilt-Zoom cameras (PTZ) seem to replace static ones in videosurveillance areas as they are easier to deploy, with a larger field of view and can take high resolution pictures of targets thanks to their zoom. However, current algorithms combining tracking and camera control do not take into account order executing latency and motion delays caused by off-the-shelf cameras. In this paper, we suggest a new motion control strategy that manages inherent delays by an Interacting Multiple Models prediction of the target motion and an online evaluation of this prediction.


Tracking pan-tilt-zoom camera PTZ delay prediction law of control Interacting Multiple Models 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Ahmed, J., Ali, A., Khan, A.: Stabilized active camera tracking system. Journal of Real-Time Image Processing (2012)Google Scholar
  2. 2.
    Badri, J.: Systeme de vision hybride: Modelisation et application au suivi haute resolution, Thèse de l’Université Blaise Pascal - Clermont-Ferrand II (2008)Google Scholar
  3. 3.
    Bellotto, N., Sommerlade, E., Benfold, B.: A distributed camera system for multi-resolution surveillance. ACM/IEEE ICDSC (2009)Google Scholar
  4. 4.
    Bernardin, K., Stiefelhagen, R.: Evaluating multiple object tracking performance: the CLEAR MOT metrics. J. Image Video Process (2008)Google Scholar
  5. 5.
    Biswas, A., Guha, P., Mukerjee, A., Venkatesh, K.S.: Intrusion Detection and Tracking with Pan-Tilt Cameras. IET ICVIE (2006)Google Scholar
  6. 6.
    Choi, H.C., Park, U., Jain, A.K., Lee, S.W.: Face Tracking and Recognition at a Distance: A coaxial & concentric PTZ Camera System. IEEE TCSVT (2011)Google Scholar
  7. 7.
    Everts, I., Sebe, N., Jones, G.: Cooperative Object Tracking with Multiple PTZ Cameras. In: 14th ICIAP (2007)Google Scholar
  8. 8.
    Kang, S., Paik, J., Koschan, A., Abidi, B., Abidi, M.: Real-time video tracking using PTZ cameras. In: IET ICQCAV (2003)Google Scholar
  9. 9.
    Kumar, P., Dick, A., Sheng, T.S.: Real Time Target Tracking with Pan Tilt Zoom Camera. In: DICTA (2009)Google Scholar
  10. 10.
    Liao, H.-C., Chen, W.Y.: Eagle Eye: A Dual PTZ Camera system for target tracking in a large open area. Information Technology and Control (2010)Google Scholar
  11. 11.
    Lopez, R., Danes, P., Royer, F.: Extending the IMM filter to Heterogeneous-Order state space models. In: 49th IEEE CDC (2010)Google Scholar
  12. 12.
    Mian, A.: Realtime face detection and tracking using a single Pan, Tilt, Zoom camera. In: 23rd IVCNZ (2008)Google Scholar
  13. 13.
    Qureshi, F.Z., Terzopoulos, D.: Planning ahead for PTZ camera assignment and handoff. In: Third ACM/IEEE ICDSC (2009)Google Scholar
  14. 14.
    Rong Li, X., Zhao, Z., Li, X.: General Model-Set Design Methods for Multiple-Model Approach. IEEE TAC (2005)Google Scholar
  15. 15.
    Varcheie, P.D.Z., Bilodeau, G.A.: Adaptive Fuzzy Particle Filter Tracker for a PTZ Camera in an IP Surveillance System. IEEE Transactions on Instrumentation and Measurement (2011)Google Scholar
  16. 16.
    Wheeler, W., Weiss, R.L., Tu, P.H.: Face Recognition at a distance system for surveillance applications. F- BTAS (2010)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Pierrick Paillet
    • 1
  • Romaric Audigier
    • 1
  • Frederic Lerasle
    • 2
    • 3
  • Quoc-Cuong Pham
    • 1
  1. 1.CEA, LIST, LVICGif-sur-YvetteFrance
  2. 2.CNRS, LAASToulouseFrance
  3. 3.Univ de Toulouse, UPS, LAASToulouseFrance

Personalised recommendations