Fusion of Omnidirectional and PTZ Cameras for Face Detection and Tracking

Many applications for mobile robot authentication require to be able to explore a large field of view with high resolution. The proposed vision system is composed of a catadioptric sensor for full range monitoring and a pan tilt zoom (PTZ) camera leading to an innovative sensor, able to detect and track any moving objects at a higher zoom level. In our application, the catadioptric sensor is calibrated and used to detect and track regions of interest (ROIs) within its 360 degree field of view (FOV), especially face regions. Using a joint calibration strategy, the PTZ camera parameters are automatically adjusted by the system in order to detect and track the face ROI within a higher resolution.