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A stereo PTZ tracking and surveillance system with two dynamic cameras operating in a master-slave relationship

Tracking and surveillance systems frequently require identification of targets in the field of view of a camera. For example, in the acquisition phase of an FSO system an optical beacon is often used. Pan-tilt-zoom (PTZ) camera networks are also increasingly finding their way into surveillance systems. With advances in image processing and computational efficiency, such systems can track the 3D coordinates of a target in real-time as it traverses through the field of view (FOV) of the master camera. Master-slave relationships between static-dynamic camera pairs are well-studied problems. These systems initially calibrate for a linear mapping between pixels of a wide FOV camera and the PT settings of a dynamic narrow FOV camera. 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 that allows both cameras to move and extract the 3D coordinate of the target. This is done with only a single initial calibration between pairs of cameras and high- resolution PTZ platforms to keep track of the master camera movement. The mapping between PT settings of the slave and master camera is then adjusted based on the movement by the dynamic camera. This results in a larger coverage area for the master camera to be able to keep track of the target over longer periods of time. Using the information from the PT settings of the PTZ platform as well as the precalibrated settings from a preset zoom lens, the 3D coordinate of the target is extracted and compared to those of a laser range finder and static-dynamic camera pair accuracies.