Accurate control of a pan-tilt system based on parameterization of rotational motion

Jung Hyun Byun, Seung Ho Chae, Tack Don Han

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)

Abstract

A pan-tilt camera system has been adopted by a variety of fields since it can cover a wide range of region compared to a single fixated camera setup. Yet many studies rely on factory-assembled and calibrated platforms and assume an ideal rotation where rotation axes are perfectly aligned with the optical axis of the local camera. However, in a user-created setup where a pan-tilting mechanism is arbitrarily assembled, the kinematic configurations may be inaccurate or unknown, violating ideal rotation. These discrepancies in the model with the real physics result in erroneous servo manipulation of the pan-tilting system. In this paper, we propose an accurate control mechanism for arbitrarily-assembled pan-tilt camera systems. The proposed method formulates pan-tilt rotations as motion along great circle trajectories and calibrates its model parameters, such as positions and vectors of rotation axes, in 3D space. Then, one can accurately servo pan-tilt rotations with pose estimation from inverse kinematics of their transformation. The comparative experiment demonstrates out-performance of the proposed method, in terms of accurately localizing target points in world coordinates, after being rotated from their captured camera frames.

Original languageEnglish
Pages57-60
Number of pages4
DOIs
Publication statusPublished - 2018
Event39th Annual Conference on European Association for Computer Graphics, EUROGRAPHICS 2018 - Delft, Netherlands
Duration: 2018 Apr 162018 Apr 20

Conference

Conference39th Annual Conference on European Association for Computer Graphics, EUROGRAPHICS 2018
CountryNetherlands
CityDelft
Period18/4/1618/4/20

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No. NRF-2015R1A2A1A10055673).

Publisher Copyright:
© 2018 The Author(s) Eurographics Proceedings © 2018 The Eurographics Association.

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design

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