In-Operation Calibration Of Clock-Bias And Intrinsic Parameters For Pan-Tilt-Zoom Cameras Based On Keypoint Tracking

We propose a method for jointly estimating intrinsic calibration and internal clock synchronisation for a pantilt-zoom (PTZ) camera using only data that can be acquired in the field during normal operation. Results show that this method is a promising starting point towards using software to replace costly timing hardware in such cameras. Through experiments we provide calibration and clock synchronisation for an off-the-shelf low-cost PTZ camera, and observe a greatly improved directional accuracy, even during mild manoeuvres.