Object Tracking with a pan-tilt-zoom camera : application to car driving assistance

Xavier Clady 1 François Collange 1 Frédéric Jurie 2 Philippe Martinet 1
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LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
Abstract : In this paper, visual perception in car driving assistance is considered. The work deals with the development of a system combining a pan-tilt-zoom (PTZ) camera and a standard camera, in order to track the front vehicles. The standard camera has a small focal length, and is devoted to the analyse of the whole frontal scene. Here, the PTZ camera is used to track the closest vehicle. Camera rotations and zoom are controlled by visual servoing and by an efficient real time target tracking algorithm. The aim of this work is to keep the rear view image of target vehicle stable in scale and position. The methods presented were tested on real road sequences within the VELAC demonstration vehicle. Experimental results show the effectiveness of such an approach.
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Conference papers
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Xavier Clady, François Collange, Frédéric Jurie, Philippe Martinet. Object Tracking with a pan-tilt-zoom camera : application to car driving assistance. International Conference on Robotics & Automation (ICRA '01), May 2001, Seoul, South Korea. pp.1653--1658, ⟨10.1109/ROBOT.2001.932848⟩. ⟨inria-00548285⟩

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