Keeping multiple objects in the field of view of a single PTZ camera

Authors:
N. R. Gans;G. Hu;W. E. Dixon
Affiliations:
National Research Council and Air Force Research Laboratory;Department of Mechanical and Nuclear Engineering, Kansas State University;Department of Mechanical and Aerospace Engineering, University of Florida
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 1

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Abstract

This paper introduces a novel visual servo controller designed to keep multiple moving objects in the camera field-of-view using a pan/tilt/zoom camera. In contrast to most visual servo controllers, there is no goal pose or goal image. In this paper, a set of task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions will deter feature points from leaving the camera field-of-view. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. To provide proper control of a pan/tilt/zoom camera, an image Jacobian is developed utilizing actuation of the focal length. Simulations of several object tracking tasks have verified the performance of the proposed method.