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New Methods for 3D Measurement for PTZ Camera Control on Road Surface with Linear and Curved Slopes

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Two new methods for 3-D measurement for PTZ (Pan, Tilt, and Zoom) camera control on linear and curved slopes are proposed. We assume there are two cameras: one PTZ and one fixed. If one point is chosen in the image from fixed camera, pan and tilt of PTZ camera are controlled to place that point in the center of PTZ camera view. To do this, we need a mechanism that automatically computes pan and tilt of PTZ camera to move to the designated point. Interpolation may be used, but it requires at least 4 ground truth points and measurement error increases as sample points deviate from ground truth points. In our earlier work, we proposed 3D measurement methods that use only one ground truth point and are applicable only to flat road surface. Roads in real world have various slopes and curvatures. In this paper, we extend our work to allow more general road surface geometry including linear and curved slopes. We applied methods to real world environment and obtained good results.


Document Type: Research Article


Publication date: 2012-05-01

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