ICRA 2011 Paper Abstract


Paper TuA108.4

Hrabar, Stefan (CSIRO ICT Centre), Corke, Peter (QUT), Hilsenstein, Volker (CSIRO ICT Centre)

PTZ Camera Pose Estimation by Tracking a 3D Target

Scheduled for presentation during the Regular Sessions "Calibration and Identification I" (TuA108), Tuesday, May 10, 2011, 09:05−09:20, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Calibration and Identification, Computer Vision for Robotics and Automation, Aerial Robotics


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.



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