This paper introduces an intelligent computational approach for extracting salient objects fromimages and estimatingtheir distance information with PTZ (Pan-Tilt-Zoom) cameras. PTZ cameras have found wide applications...This paper introduces an intelligent computational approach for extracting salient objects fromimages and estimatingtheir distance information with PTZ (Pan-Tilt-Zoom) cameras. PTZ cameras have found wide applications innumerous public places, serving various purposes such as public securitymanagement, natural disastermonitoring,and crisis alarms, particularly with the rapid development of Artificial Intelligence and global infrastructuralprojects. In this paper, we combine Gauss optical principles with the PTZ camera’s capabilities of horizontal andpitch rotation, as well as optical zoom, to estimate the distance of the object.We present a novel monocular objectdistance estimation model based on the Focal Length-Target Pixel Size (FLTPS) relationship, achieving an accuracyrate of over 95% for objects within a 5 km range. The salient object extraction is achieved through a simplifiedconvolution kernel and the utilization of the object’s RGB features, which offer significantly faster computingspeeds compared to Convolutional Neural Networks (CNNs). Additionally, we introduce the dark channel beforethe fog removal algorithm, resulting in a 20 dB increase in image definition, which significantly benefits distanceestimation. Our system offers the advantages of stability and low device load, making it an asset for public securityaffairs and providing a reference point for future developments in surveillance hardware.展开更多
Pan-tilt-zoom(PTZ)相机能通过绕光心纯旋转以获得更大视场,被广泛应用于监控系统中。针对在处理PTZ相机影像定向时现有运动恢复结构(structure from motion,SfM)方法存在适用性不足的问题,参考全局式SfM的思路,提出一种面向PTZ相机纯...Pan-tilt-zoom(PTZ)相机能通过绕光心纯旋转以获得更大视场,被广泛应用于监控系统中。针对在处理PTZ相机影像定向时现有运动恢复结构(structure from motion,SfM)方法存在适用性不足的问题,参考全局式SfM的思路,提出一种面向PTZ相机纯旋转运动的影像定向方法。首先,优选部分像对进行内定向,估计影像的内方位元素;然后,对所有影像进行全局式外定向,估计影像的外方位角元素;最后,利用无物方点的光束法平差优化内方位元素和外方位角元素。仿真数据和真实数据的实验表明,该方法可弥补现有SfM方法的不足,成功实现对PTZ相机纯旋转时的影像定向;在与商用软件对比方面,得到的外定向精度更高,同时具有计算效率上的优势。该方法并不局限于PTZ相机影像的定向,对于多镜头相机、全向相机等设备采集的纯旋转影像的定向问题具有通用性。展开更多
This paper presents a real-time, dynamic system that uses high resolution gimbals and motorized lenses with position encoders on their zoom and focus elements to “recalibrate” the system as needed to track a target....This paper presents a real-time, dynamic system that uses high resolution gimbals and motorized lenses with position encoders on their zoom and focus elements to “recalibrate” the system as needed to track a target. Systems that initially calibrate for a mapping between pixels of a wide field of view (FOV) master camera and the pan-tilt (PT) settings of a steerable narrow FOV slave camera assume that the target is travelling on a plane. As the target travels through the FOV of the master camera, the slave cameras PT settings are then adjusted to keep the target centered within its FOV. In this paper, we describe a system we have developed that allows both cameras to move and extract the 3D coordinates of the target. This is done with only a single initial calibration between pairs of cameras and high-resolution pan-tilt-zoom (PTZ) platforms. Using the information from the PT settings of the PTZ platform as well as the precalibrated settings from a preset zoom lens, the 3D coordinates of the target are extracted and compared to those of a laser range finder and static-dynamic camera pair accuracies.展开更多
This paper intends to introduce the active vision system with autonomous robot competition in the background. It presents some characteristics of the human oculomotor system in active ma-chine vision svstem: smooth pu...This paper intends to introduce the active vision system with autonomous robot competition in the background. It presents some characteristics of the human oculomotor system in active ma-chine vision svstem: smooth pursuit and saccade. Besides, zoom tracking is used to continuous ad-justment of a camera's focal length to keep a constant sized image of an object moving along the camera's optical axis. Experiments indicate the technology to be efficient for tracking the bail in the robot competition.展开更多
基金the Social Development Project of Jiangsu Key R&D Program(BE2022680)the National Natural Science Foundation of China(Nos.62371253,52278119).
文摘This paper introduces an intelligent computational approach for extracting salient objects fromimages and estimatingtheir distance information with PTZ (Pan-Tilt-Zoom) cameras. PTZ cameras have found wide applications innumerous public places, serving various purposes such as public securitymanagement, natural disastermonitoring,and crisis alarms, particularly with the rapid development of Artificial Intelligence and global infrastructuralprojects. In this paper, we combine Gauss optical principles with the PTZ camera’s capabilities of horizontal andpitch rotation, as well as optical zoom, to estimate the distance of the object.We present a novel monocular objectdistance estimation model based on the Focal Length-Target Pixel Size (FLTPS) relationship, achieving an accuracyrate of over 95% for objects within a 5 km range. The salient object extraction is achieved through a simplifiedconvolution kernel and the utilization of the object’s RGB features, which offer significantly faster computingspeeds compared to Convolutional Neural Networks (CNNs). Additionally, we introduce the dark channel beforethe fog removal algorithm, resulting in a 20 dB increase in image definition, which significantly benefits distanceestimation. Our system offers the advantages of stability and low device load, making it an asset for public securityaffairs and providing a reference point for future developments in surveillance hardware.
文摘Pan-tilt-zoom(PTZ)相机能通过绕光心纯旋转以获得更大视场,被广泛应用于监控系统中。针对在处理PTZ相机影像定向时现有运动恢复结构(structure from motion,SfM)方法存在适用性不足的问题,参考全局式SfM的思路,提出一种面向PTZ相机纯旋转运动的影像定向方法。首先,优选部分像对进行内定向,估计影像的内方位元素;然后,对所有影像进行全局式外定向,估计影像的外方位角元素;最后,利用无物方点的光束法平差优化内方位元素和外方位角元素。仿真数据和真实数据的实验表明,该方法可弥补现有SfM方法的不足,成功实现对PTZ相机纯旋转时的影像定向;在与商用软件对比方面,得到的外定向精度更高,同时具有计算效率上的优势。该方法并不局限于PTZ相机影像的定向,对于多镜头相机、全向相机等设备采集的纯旋转影像的定向问题具有通用性。
文摘This paper presents a real-time, dynamic system that uses high resolution gimbals and motorized lenses with position encoders on their zoom and focus elements to “recalibrate” the system as needed to track a target. Systems that initially calibrate for a mapping between pixels of a wide field of view (FOV) master camera and the pan-tilt (PT) settings of a steerable narrow FOV slave camera assume that the target is travelling on a plane. As the target travels through the FOV of the master camera, the slave cameras PT settings are then adjusted to keep the target centered within its FOV. In this paper, we describe a system we have developed that allows both cameras to move and extract the 3D coordinates of the target. This is done with only a single initial calibration between pairs of cameras and high-resolution pan-tilt-zoom (PTZ) platforms. Using the information from the PT settings of the PTZ platform as well as the precalibrated settings from a preset zoom lens, the 3D coordinates of the target are extracted and compared to those of a laser range finder and static-dynamic camera pair accuracies.
基金the High Technology Research and Development Program of China
文摘This paper intends to introduce the active vision system with autonomous robot competition in the background. It presents some characteristics of the human oculomotor system in active ma-chine vision svstem: smooth pursuit and saccade. Besides, zoom tracking is used to continuous ad-justment of a camera's focal length to keep a constant sized image of an object moving along the camera's optical axis. Experiments indicate the technology to be efficient for tracking the bail in the robot competition.
