We propose a method for guiding a photographer to rotate her his smartphone camera to obtain an image that overlaps with another image of the same scene. The other image is taken by another photographer from a different viewpoint. Our method is applicable even when the images do not have overlapping fields of view. Straightforward applications of our method include sharing attention to regions of interest for social purposes, or adding missing images to improve structure for motion results. Our solution uses additional images of the scene, which are often available since many people use their smartphone cameras regularly. These images may be available online from other photographers who are present at the scene. Our method avoids 3D scene reconstruction; it relies instead on a new representation that consists of the spatial orders of the scene points on two axes, x and y. This representation allows a sequence of points to be chosen efficiently and projected onto the photographers images, using epipolar point transfer. Overlaying these epipolar lines on the live preview of the camera produces a convenient interface to guide the user. The method was tested on challenging datasets of images and succeeded in guiding a photographer from one view to a non-overlapping destination view.
The camera guidance problem seemingly resides in the field of "active vision" @cite_16 , where the goal is to change the pose of controlled cameras, e.g., cameras mounted on robots or PTZ cameras, to allow the optimization of some objective. For example, when the objective is object tracking, fixation on objects over time is maintained through control of the camera pose. A general approach for the simultaneous tracking of multiple moving targets using a generic active stereo setup is studied by @cite_13 . As far as we know, none of the methods in the active vision field considered a set of casually taken photographs as in our scenario; moreover, the environment is usually strictly controlled in advance and then manipulated @cite_0 . Another drawback of these methods is the computational time, where full 3D reconstruction of the scene is usually given in advance, or exhaustively calculated. Our method may be also applied to robot collaboration.
@cite_0 @cite_16 @cite_13
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Pan-tilt-zoom (PTZ) cameras are able to dynamically modify their field of view (FOV). This functionality introduces new capabilities to camera networks such as increasing the resolution of moving targets and adapting the sensor coverage. On the other hand, PTZ functionality requires solutions to new challenges such as controlling the PTZ parameters, estimating the ego motion of the cameras, and calibrating the moving cameras.This tutorial provides an overview of the main video processing techniques and the currents trends in this active field of research. Autonomous PTZ cameras mainly aim to detect and track targets with the largest possible resolution. Autonomous PTZ operation is activated once the network detects and identifies an object as sensible target and requires accurate control of the PTZ parameters and coordination among the cameras in the network. Therefore, we present cooperative localization and tracking methods, i.e., multiagentand consensus-based approaches to jointly compute the target's properties such as ground-plane position and velocity. Stereo vision exploiting wide baselines can be used to derive three-dimensional (3-D) target localization. This tutorial further presents different techniques for controlling PTZ camera handoff, configuring the network to dynamically track targets, and optimizing the network configuration to increase coverage probability. It also discusses implementation aspects for these video processing techniques on embedded smart cameras, with a special focus on data access properties. Visual motion is a simple yet powerful cue widely used by biological systems to improve their perception and adaptation to the environment. Examples of tasks that greatly benefit from the ability to detect movement are object segmentation, 3D scene reconstruction and control of attention. In computer vision several algorithms for computing visual motion and optic flow exist. However their application in robotics is not straightforward as in these platforms visual motion is often dominated by (self) motion produced by the movement of the robot (egomotion) making it difficult to disambiguate between motion induced by the scene dynamics or by the own actions of the robot. Independent motion detection is an active field in computer vision and robotics, however approaches in this area typically require that some models of both the environment and the robot visual system are available and are hardly suitable for real-time control. In this paper we describe the motionCUT, a derivation of the Lucas-Kanade optical flow algorithm that allows detecting moving objects, irrespectively of the egomotion produced by the robot. Our method is purely visual and does not require information other than the images coming from the cameras. As such it can be easily adapted to any robotic platform. The system was tested on a stereo tracking task on the iCub humanoid robot, demonstrating that the algorithm performs well and can easily execute in real-time. This paper presents a general approach for the simultaneous tracking of multiple moving targets using a generic active stereo setup. The problem is formulated on the plane, where cameras are modeled as line scan cameras, and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by a homography. This homography is specified during the design stage and, thus, can be used to implicitly encode the desired tracking behavior. Such formulation leads to an elegant geometric framework that enables a systematic and thorough analysis of the problem at hand. The benefits of the approach are illustrated by applying the framework to two distinct stereo configurations. In the first case, we assume two pan-tilt-zoom cameras, with rotation and zoom control, which are arbitrarily placed in the working environment. It is proved that such a stereo setup can track up to N = 3 free-moving targets, while assuring that the image location of each target is the same for both views. The second example considers a robot head with neck pan motion and independent eye rotation. For this case, it is shown that it is not possible to track more than N = 2 targets because of the lack of zoom. The theoretical framework is used to derive the control equations, and the implementation of the tracking behavior is described in detail. The correctness of the results is confirmed through simulations and real tracking experiments.