Camera cooperation for achieving visual attention

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https://hal.inria.fr/inria-00070778

Submitted on 19 May 2006

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Camera cooperation for achieving visual attention

Radu Horaud, David Knossow, Markus Michaelis

To cite this version:

Radu Horaud, David Knossow, Markus Michaelis. Camera cooperation for achieving visual attention.

[Research Report] RR-5216, INRIA. 2004, pp.27. �inria-00070778�

ISRN INRIA/RR--5216--FR+ENG

a p p o r t

d e r e c h e r c h e

THÈME 3

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Camera cooperation for achieving visual attention

Radu Horaud, David Knossow, and Markus Michaelis

N° 5216

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1

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f

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2

gps

Õ

2 =





kf 0 u c

0 f v c

0 0 1

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 =





k 0 u c

0 1 v c

0 0 1









f 0 0 0 f 0 0 0 1



 =

^Õ

⁰ ₂ (f, f, 1)

ÌÇgi_`U _cUGXAsžŠnšnsz_cg¦_cŠ‚_`gphl]Ls

m ₁ =

^Õ

1 n ₁

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m ₂ =

^Õ

⁰ ₂ n ₂

˜X¢hlš‚_mbrgp]ŝŸachlW _cUGX¢XEÍRŠnbr_`gphl]ns blšLh eX

λ 2 n ₂ = (f, f, 1) (λ 1 n ₁ + t)

^Î>…lÏ

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n ₁

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n ₂

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m 1

bl]nt

m 2

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f

obr]nt_`UGXa`XE›pbr_`gp lX8/hes`g¦_cgihe]br]LthlacgiXE]R_cb_cgihe]

hl(_`UnXbedf_cgi eXÊdblW Xamb˜)gi_`UÄa`XDsž/XEd$_™_ch_cUGXËsž_cbr_`gvddbrW XEacbno

t

bl]nt A¤8ÌÇg¦_cU

n ₂ = (x 2 y 2 1) ^>

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š;§-tGX]Ghl_`gp]Gq

() ⁱ

^_`UGX

i

k>_`U9d$hlW /hl]GXE]R_hr bj eXEdf_chlaDo‚˜™Xheš‚_cblgi]

x 2 = f ^{(λ 1} n 1 + t ) 1

(λ 1 n 1 + t ) 3

y 2 = f ^{(λ 1} n 1 + t ) 2

(λ 1 n ¹ + t ) 3

βˆeÏ

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n ₂ = (0 0 1) ^>

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(λ 1 n 1 + t) 1 = 0 (λ 1 n 1 + t) 2 = 0

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1

bl]nt*

2

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α

^bl]nt

β

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α 0

br]nt

β 0

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he]GXhr_`UGXDsžX_cacbl]nszŸhea`Wbr_`gphl]nsdbl]š/X˜)acg¦_`_`X]9bls

1 =

1 t ₁ 0 ^> 1

=

4×4 + sin(β − β 0 ) ˆ Q ₁ + (1 − cos(β − β 0 )) ˆ Q ² ₁

^Ξ‡l‡DÏ

{Abr_`acg¦Ô

Q ˆ ₁

t‚XDs`da`gpš/XEsC_cUGX8_cbl]GqlXE]R_(hl/Xamb_`heaÜblscsžh‚d$gvb_cXEtʘ)g¦_cU_`UGXHa`gpqlgvt|W hl_`gphl],[À_(gvs=dhlW LhRsžXDt hl b s`ÑlX˜k^s`§RW W X$_ca`gvdÊW br_`acg¦Ô

R ˆ ₁

br]Ltb*_`ambr]Lsž›vb_cgihe]nbr›C lXE›ih‚dg¦_z§© eXEd$_`hla

ˆ t ₁

bl]nt-˜)acgi_`XEs)bes

Q ˆ ₁ =

R ˆ 1 ˆ t 1

0 ^> 0

Ξ‡D†lÏ

[À_|gvs)˜hla`_`U;˜)UGgp›iXË_ch]Ghr_cgpdX_`Unbr_-

− 1

1 ((β − β 0 )) =

₁ (−(β − β 0 ))

br]ntŸachlWœXDÍRŠnb_cgihe]¡Îž‡l‡DÏ

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_cacbed$X

(

₁ ) = 2 (1 + cos(β − β 0 ))

^Ξ‡EYeÏ

bl]nt

Q ˆ ₁ = 1 2 sin(β − β 0 )

1 −

⁻ ₁ ¹

^Ξ‡ŒRÏ

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1 =

3×3 + sin(β − β 0 ) ˆ R 1 + (1 − cos(β − β 0 )) ˆ R ² ₁

Ξ‡D…lÏ

t ₁ = sin(β − β 0 )ˆ t ₁ + (1 − cos(β − β 0 )) ˆ R ₁ ˆ t ₁

^Ξ‡EˆeÏ

TUGXEa`Xgvsb sžgpW gi›vbra)XԂGa`XDs`s`gphl]©Ÿhea

2

¤+HÍRŠnb_cgihe]¡ÎeÏWb5§©š/X˜)a`gi_ž_cX]9bls

= 2 1 0

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t = 2 1 t 0 + 2 t 1 + t 2

Ξ‡ eÏ

+HÍ/¤xÎÀrÏʚLXDd$heWjXDsη_cUGXsžŠGšLs`da`gp‚_cs

() 1

br]Lt

() 2

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]nX]R_csmÏ

(λ 1 2 1 0 n ₁ + 2 1 t ₀ + 2 t ₁ + t ₂ ) 1 = 0 (λ 1 2 1 0 n ₁ + 2 1 t ₀ + 2 t ₁ + t ₂ ) 2 = 0

Ξ‡ eÏ

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α

^o

β

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λ 1

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m 1

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n ₁

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m 2

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(0 0)

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λ 1

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λ 1

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p = λ 1 0 n ₁ + t ₀

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

 0 0 λ 2

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p

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cos(β − β 0 )

^o

sin(β − β 0 )

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cos(α − α 0 )

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sin(α − α 0 )

^o™bl]nt

λ = λ 2

¤ ÌÇgi_`U _`UGX

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sin(α − α 0 ) = 2 tan ^(α−α ₂ ^{0 )}

1 + tan ^{2 ( α−α} ₂ ^{0 )} = 2t α

1 + t ² _α

cos(α − α 0 ) = 1 − tan ^{2 ( α−α} ₂ ^{0 )}

1 + tan ^{2 ( α−α} ₂ ^{0 )} = 1 − t ² _α

1 + t ² α

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λ 2

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|X˜_chl]AW X$_cUGh‚t¢Ÿhea|¥n]Lt‚gi]nqach;hr_cs|hr™s`X$_ms|hlxLhe›i§;]GheW gpbl›psEoCg¦_gpsËd$acŠndgpbl›=_ch-š/XjblšG›iX_`hÄsz_mb_`Xjgp]

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λ > 0

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