Abstract
An advanced binocular active camera system for wide area surveillance is proposed. The system is equipped with high-resolution actuators, wide angle lens cameras, and telescope lens cameras, which enables it to smoothly track a pedestrian from a far distance and to continuously shoot a stable video in detail. Depth information is available because it is a stereo vision system. Differences in depth between the target and the background can be used to distinguish the one from the other. To achieve robust tracking when the background is complicated, a 3D tracking image processing algorithm based on binocular disparity is proposed to separate the target being tracked from the complicated background, even though the target has changed its appearance according to its rotation. Moreover, to avoid the difficulty of looking for corresponding points between a pair of stereo images, the baseline distance between the two eyes of the proposed system is kept very short. However, this leads to poor vergence control, a problem that is rectified by applying a mathematics model based on the neural pathways of human binocular eye movement, thus enabling stable binocular tracking.
