PTZ Camera Pose Estimation by Tracking a 3D Target

摘要：

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 camera 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.

关键词： Visual tracking PTZ camera camera pose estimation numerical optimization

作者: Stefan Hrabar Peter Corke Volker Hilsenstein

作者单位: Australian Research Centre for Aerospace Automation (ARCAA),22-24 Boronia Road,Eagle Farm,Queensland Queensland University of Technology,2 George St,Brisbane,Queensland,Australia

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 240-247

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）