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Method of calibrating a direction of a pan, tilt, zoom, camera with respect to a fixed camera, and a system in which such a calibration is carried out

  • US 10,430,972 B2
  • Filed: 08/23/2018
  • Issued: 10/01/2019
  • Est. Priority Date: 08/29/2017
  • Status: Active Grant
First Claim
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1. A method of calibrating a direction of a pan, tilt, zoom, PTZ, camera with respect to a first, fixed, camera, comprising:

  • receiving an overview image of a scene captured by a first, fixed, camera,directing a PTZ camera in a first direction,when the PTZ camera is in the first direction, performing the steps of;

    a) receiving an image of the scene captured by the PTZ camera, wherein a field of view of the image captured by the PTZ camera partly overlaps a field of view the overview image,b) identifying a first set of features in the image of the scene captured by the PTZ camera,c) localizing at least a portion of the first set of features in the overview image so as to associate the at least a portion of first set of features in the image captured by the PTZ camera with a second set of features in the overview image,d) logging positional data of the second set of features in the overview image,e) defining a mapping between the image captured by the PTZ camera and the overview image based on the at least a portion of first set of features and the second set of features, and calculating a quality of the mapping,performing a first calibration of the PTZ camera by correlating the first direction of the PTZ camera with the positional data of the second set of features being logged when the PTZ camera is directed in the first direction,in case the quality of the mapping is below a first threshold;

    redirecting the PTZ camera to a second direction,performing steps a)-d) when the PTZ camera is in the second direction, andperforming a second calibration of the PTZ camera by correlating the second direction of the PTZ camera with positional data of the second set of features being logged when the PTZ camera is directed in the second direction,wherein step e) further comprises mapping an object in the image captured by the PTZ camera to the overview image by using the defined mapping, wherein calculating the quality of the mapping includes calculating a similarity between an appearance of the object in the image captured by the PTZ camera and an appearance of the object after mapping to the overview image.

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