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dc.contributor.authorLarsen, Martin Vonheimen_GB
dc.contributor.authorMathiassen, Kimen_GB
dc.date.accessioned2024-12-04T14:37:03Z
dc.date.accessioned2024-12-10T06:26:39Z
dc.date.available2024-12-04T14:37:03Z
dc.date.available2024-12-10T06:26:39Z
dc.date.issued2024-11-28
dc.identifier.citationLarsen, Mathiassen. Achieving Sub-Pixel Platform Accuracy With Pan-Tilt-Zoom Cameras in Uncertain Times. IEEE Transactions on Robotics. 2024en_GB
dc.identifier.urihttp://hdl.handle.net/20.500.12242/3394
dc.descriptionLarsen, Martin Vonheim; Mathiassen, Kim. Achieving Sub-Pixel Platform Accuracy With Pan-Tilt-Zoom Cameras in Uncertain Times. IEEE Transactions on Robotics 2024en_GB
dc.description.abstractIn this paper, we present a novel method for selfcalibrating a pan-tilt-zoom (PTZ) camera system model, specifically suited for long-range multi-target tracking with maneuvering low-cost PTZ cameras. Traditionally, such camera systems cannot provide accurate mappings from pixels to directions in the platform frame due to imprecise pan/tilt measurements or lacking synchronization between the pan/tilt unit and the video stream. Using a direction-only bundle adjustment (BA) incorporating pan/tilt measurements, we calibrate camera intrinsics, rolling shutter (RS) characteristics and pan/tilt mechanics, and obtain clock synchronization between the video stream and pan/tilt telemetry. We call the resulting method PTCEE (pan/tilt camera extrinsic and intrinsic estimation). In a thorough simulation study, we show that the proposed estimation scheme identifies model parameters with sub-pixel precision across a wide range of camera setups. Leveraging the map of landmarks from the BA, we propose a method for estimating camera orientation in real-time, and demonstrate pixel-level mapping precision on realworld data. Through the proposed calibration and orientation schemes, PTCEE enables high-precision target tracking during camera maneuvers in many low-cost systems, which was previously reserved for high-end systems with specialised hardware. Code is available at github.com/ffi-no/Paper-ptz-subpix-accuracy.en_GB
dc.language.isoenen_GB
dc.subjectKameraen_GB
dc.subjectOptiske sensoreren_GB
dc.titleAchieving Sub-Pixel Platform Accuracy With Pan-Tilt-Zoom Cameras in Uncertain Timesen_GB
dc.date.updated2024-12-04T14:37:03Z
dc.identifier.cristinID2326835
dc.identifier.doi10.1109/TRO.2024.3508141
dc.source.issn1552-3098
dc.source.issn1941-0468
dc.type.documentJournal article
dc.relation.journalIEEE Transactions on Robotics


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