Camera self-calibration from tracking of moving persons

Zheng Tang, Yen Shuo Lin, Kuan Hui Lee, Jenq Neng Hwang, Jen-Hui Chuang, Zhijun Fang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations


In a video surveillance system with a single static camera, tracking results of moving persons can be effectively used for camera self-calibration. However, the current methods need to depend on robustness of both tracking and segmentation procedures. RANSAC has been widely used to remove outliers in finding the vertical vanishing point and the horizon line, but the performance is degraded when the proportion of outliers is high. Last but not least, all of them require excessive simplifications in the algorithmic procedures resulting in increasing reprojection error. In this paper, a robust segmentation and tracking system is applied to provide accurate estimation of head and foot locations of moving persons. The noise in the computation of vanishing points is handled by mean shift clustering and Laplace linear regression through convex optimization. We also propose to use the estimation of distribution algorithm (EDA) to search for the local optimal solution for camera calibration that minimizes average reprojection error on the ground plane, while relaxing the assumptions on camera parameters. Promising evaluations of the performance of our proposed method on real scenes are presented.

Original languageEnglish
Title of host publication2016 23rd International Conference on Pattern Recognition, ICPR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509048472
StatePublished - 1 Jan 2016
Event23rd International Conference on Pattern Recognition, ICPR 2016 - Cancun, Mexico
Duration: 4 Dec 20168 Dec 2016

Publication series

NameProceedings - International Conference on Pattern Recognition
ISSN (Print)1051-4651


Conference23rd International Conference on Pattern Recognition, ICPR 2016


  • Camera self-calibration
  • Estimation of distribution algorithm
  • Laplace linear regression
  • Mean shift clustering
  • Moving persons tracking

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