Object Tracking with a Pan-Tilt-Zoom camera: application to car driving assistance.

In this paper visual perception In car driving assistance is considered, The work concerns the development of a system combining a Pan-Tilt-Zoom (PTZ) camera and a standard camera, in order to track front vehicles. The standard camera has a small focal length, and is devoted to the analyze of the whole frontal scene. Here, the PTZ camera is used to track the closest vehicle An original approach to control it is integrated. Camera rotations and zoom are controlled by visual servoing and by an efficient real time target tracking algorithm. The aim of this track is to keep the rear view image of target vehicle stable in scale and position. The methods presented here were tested on real road sequences within the VELAC(1) demonstration vehicle. Experimental results show the effectiveness of such an approach.