Camera Models and Machine Perception

TLDR: A parametric model for a computer-controlled moveable camera on a pan-tilt head that expresses the transform relating object space to image space as a function of the control variables of the camera is developed.

Abstract: : The report developes a parametric model for a computer-controlled moveable camera on a pan-tilt head. The model expresses the transform relating object space to image space as a function of the control variables of the camera. We constructed a calibration system for measuring the model parameters which has a demonstrated accuracy more than adequate for our present needs. We have also identified the major source of error in model measurement to be undesired image motion and have developed means of measuring and compensating for some of it and eliminating other parts of it. The system can measure systematic image distortions if they become the major accuracy limitation. It has been shown how to generalize the model to handle small systematic errors due to aspects of pan-tilt head geometry not presently accounted for. The report demonstrates the model's application in stereo vision and have shown how it can be applied as a predictive device in locating objects of interest and centering them in an image. (Author)