Calibration of a Dual-PTZ-Camera System for Stereo Vision

In this paper, we propose a calibration process for the intrinsic and extrinsic parameters of dual-PTZ-camera systems. The calibration is based on a complete definition of six coordinate systems fixed at the image planes, and the pan and tilt rotation axes of the cameras. Misalignments between estimated and ideal coordinates of image corners are formed into cost values to be solved by the Nelder-Mead simplex optimization method. Experimental results show that the system is able to obtain 3D coordinates of objects with a consistent accuracy of 1 mm when the distance between the dual-PTZ-camera set and the objects are from 0.9 to 1.1 meters.