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Pan-tilt-zoom (PTZ) cameras are powerful to support object identification andrecognition in far-field scenes. However, the effective use of PTZ cameras inreal contexts is complicated by the fact that a continuous on-line cameracalibration is needed and the absolute pan, tilt and zoom positional valuesprovided by the camera actuators cannot be used because are not synchronizedwith the video stream. So, accurate calibration must be directly extracted fromthe visual content of the frames. Moreover, the large and abrupt scale changes,the scene background changes due to the camera operation and the need of cameramotion compensation make target tracking with these cameras extremelychallenging. In this paper, we present a solution that provides continuouson-line calibration of PTZ cameras which is robust to rapid camera motion,changes of the environment due to illumination or moving objects and scalesbeyond thousands of landmarks. The method directly derives the relationshipbetween the position of a target in the 3D world plane and the correspondingscale and position in the 2D image, and allows real-time tracking of multipletargets with high and stable degree of accuracy even at far distances and anyzooming level.

Continuous Localization and Mapping of a Pan Tilt Zoom Camera for Wide Area Tracking