| The idea is to have a wide-field-of-view
camera to do the change detection, to compute the position of the target
in the 3D world, and to command a highly zoomed in moving camera to look
at the target itself.
The most difficult part of the project is to build a Digitla Elevation Map (DEM) model and calibrate the cameras. See this video (6.9M AVI) for the camera slaving in action. My part in the project was slaving the PRB pan/tilt camera. The master camera's wide field of view was provide by a mosaic of two static cameras. A look-up table from each pixel in the static cameras to the pan/tilt angle was built. When a target was detected in the static cameras, the corresponding pan/tilt angle was found, and the camera was accurately pointed to the target. For more details see our RI Technical Report. |
