In-Operation Calibration of Clock-Bias and Intrinsic Parameters for Pan-Tilt-Zoom Cameras Based on Keypoint Tracking

摘要

We propose a method for jointly estimating intrinsic calibration and internal clock synchronisation for a pan-tilt-zoom (PTZ) camera using only data that can be acquired in the field during normal operation. Results show that this method is a promising starting point towards using software to replace costly timing hardware in such cameras. Through experiments we provide calibration and clock synchronisation for an off-the-shelf low-cost PTZ camera, and observe a greatly improved directional accuracy, even during mild manoeuvres.