Active target tracking: A simplified view aligning method for binocular camera model

Xinzhao Li*, Yuanqi Su, Yuehu Liu, Shaozhuo Zhai, Ying Wu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


While monitoring large-scale scenes, visual surveillance systems are often confronted with a dilemma between obtaining efficient coverage of the scene and getting sufficient resolution of the targets of interest. To alleviate the contradiction, a solution based on binocular cameras has been proposed. In the solution, an active pan–tilt–zoom (PTZ) camera and a fixed camera operate in a collaborative way by dynamically aligning their fields of view. However, due to the asymmetric camera distribution structure and fast-changing scenario, the accurate alignment is yet challenging. In this paper, a novel view aligning method is presented which introduces three reasonable and mild simplifications to transform the complex view aligning problem into a simple arctangent control function. These simplifications not only relax the restrictions of target depth and the intrinsic parameters of PTZ camera, but also constrain the relative external parameters with a coaxial structure. Meanwhile, a corresponding calibration method is designed to estimate the model parameters off-line. The proposed method was tested in comprehensive cases with relatively close target, wide-range scene and altitude variation. Both the simulation and real scene experiments demonstrate that our method outperforms other state-of-the-art methods on accuracy and effectiveness for active target tracking tasks.

Original languageEnglish (US)
Pages (from-to)11-23
Number of pages13
JournalComputer Vision and Image Understanding
StatePublished - Oct 2018


  • Active target tracking
  • Camera control
  • Dual camera system
  • Video surveillance
  • View aligning problem

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition


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