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Open AccessArticle

Robust Pan/Tilt Compensation for Foreground–Background Segmentation

1
TELIN-IPI, Ghent University, Sint-Pietersnieuwstraat 41, B-9000 Gent, Belgium
2
imec, Kapeldreef 75, B-3001 Leuven, Belgium
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(12), 2668; https://doi.org/10.3390/s19122668
Received: 13 May 2019 / Revised: 30 May 2019 / Accepted: 12 June 2019 / Published: 13 June 2019
(This article belongs to the Section Remote Sensors, Control, and Telemetry)
In this paper, we describe a robust method for compensating the panning and tilting motion of a camera, applied to foreground–background segmentation. First, the necessary internal camera parameters are determined through feature-point extraction and tracking. From these parameters, two motion models for points in the image plane are established. The first model assumes a fixed tilt angle, whereas the second model allows simultaneous pan and tilt. At runtime, these models are used to compensate for the motion of the camera in the background model. We will show that these methods provide a robust compensation mechanism and improve the foreground masks of an otherwise state-of-the-art unsupervised foreground–background segmentation method. The resulting algorithm is always able to obtain F 1 scores above 80 % on every daytime video in our test set when a minimal number of only eight feature matches are used to determine the background compensation, whereas the standard approaches need significantly more feature matches to produce similar results. View Full-Text
Keywords: PTZ camera; camera parameters; motion compensation; foreground–background segmentation PTZ camera; camera parameters; motion compensation; foreground–background segmentation
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MDPI and ACS Style

Allebosch, G.; Van Hamme, D.; Veelaert, P.; Philips, W. Robust Pan/Tilt Compensation for Foreground–Background Segmentation. Sensors 2019, 19, 2668.

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