PTZ camera pose estimation by tracking a 3D target
Hrabar, Stefan , Corke, Peter, & Hilsenstein, Volker (2011) PTZ camera pose estimation by tracking a 3D target. In Arai, Hirohiko (Ed.) Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE Xplore, Shanghai International Conference Center, Shanghai, pp. 240-247.
We present a technique for estimating the 6DOF pose of a PTZ camera by tracking a single moving target in the image with known 3D position. This is useful in situations where it is not practical to measure the camera pose directly. Our application domain is estimating the pose of a PTZ camerso so that it can be used for automated GPS-based tracking and filming of UAV flight trials. We present results which show the technique is able to localize a PTZ after a short vision-tracked flight, and that the estimated pose is sufficiently accurate for the PTZ to then actively track a UAV based on GPS position data.
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|Item Type:||Conference Paper|
|Keywords:||PTZ Camera, Visual Tracking, Camera Pose Estimation, Numerical Optimization|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2011 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||09 Sep 2011 10:53|
|Last Modified:||10 Sep 2011 13:24|
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