A Master-slave Tracking Algorithm Using Two PTZ Cameras

This paper presents a master-salve tracking framework for wide area video surveillance with two Pan-Tilt-Zoom (PTZ) cameras, which is inspired by the chameleon vision of highly independent and symmetric, attention to both overall and local visual events. Because of the symmetry of two cameras and variability and controllability of camera parameters, compared with master-salve tracking system consisting of one static and one PTZ camera, the proposed system increases the surveillance coverage. Compared with system configuration using multiple static cameras and PTZ cameras, the proposed system decreases hardware cost. Compared with surveillance system composed of one omnidirectional and one PTZ camera, the proposed system is easy to fuse to exact more useful information. A master-slave control method is also designed using sphere coordinate model. Each camera can achieve cooperative master-slave tracking at arbitrary pan-tilt-zoom values. Therefore, visual attention of multi-resolution can be obtained. Quantitative results in the outdoor scene show good performance of the proposed approach.