Dynamic calibration of pan-tilt-zoom cameras for traffic monitoring

Kai-Tai Song*, Jen Chao Tai

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

76 Scopus citations


Pan-tilt-zoom (PTZ) cameras have been widely used in recent years for monitoring and surveillance applications. These cameras provide flexible view selection as well as a wider observation range. This makes them suitable for vision-based traffic monitoring and enforcement systems. To employ PTZ cameras for image measurement applications, one first needs to calibrate the camera to obtain meaningful results. For instance, the accuracy of estimating vehicle speed depends on the accuracy of camera calibration and that of vehicle tracking results. This paper presents a novel calibration method for a PTZ camera overlooking a traffic scene. The proposed approach requires no manual operation to select the positions of special features. It automatically uses a set of parallel lane markings and the lane width to compute the camera parameters, namely, focal length, tilt angle, and pan angle. Image processing procedures have been developed for automatically finding parallel lane markings. Interesting experimental results are presented to validate the robustness and accuracy of the proposed method.

Original languageEnglish
Pages (from-to)1091-1103
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number5
StatePublished - 1 Oct 2006


  • Background segmentation
  • Camera calibration
  • Image measurement
  • Image processing
  • Lane-marking detection
  • Traffic monitoring

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