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Mathematical Problems in Engineering
Volume 2015, Article ID 427270, 8 pages
Research Article

A Master-Slave Calibration Algorithm with Fish-Eye Correction

Instituto de Telecomunicações (IT), Department of Computer Science, University of Beira Interior, 6201-001 Covilhã, Portugal

Received 12 April 2015; Revised 30 July 2015; Accepted 7 September 2015

Academic Editor: Daniela Boso

Copyright © 2015 J. C. Neves et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Surveillance systems capable of autonomously monitoring vast areas are an emerging trend, particularly when wide-angle cameras are combined with pan-tilt-zoom (PTZ) cameras in a master-slave configuration. The use of fish-eye lenses allows the master camera to maximize the coverage area while the PTZ acts as a foveal sensor, providing high-resolution images of regions of interest. Despite the advantages of this architecture, the mapping between image coordinates and pan-tilt values is the major bottleneck in such systems, since it depends on depth information and fish-eye effect correction. In this paper, we address these problems by exploiting geometric cues to perform height estimation. This information is used both for inferring 3D information from a single static camera deployed on an arbitrary position and for determining lens parameters to remove fish-eye distortion. When compared with the previous approaches, our method has the following advantages: (1) fish-eye distortion is corrected without relying on calibration patterns; (2) 3D information is inferred from a single static camera disposed on an arbitrary location of the scene.