Robotic Pan/Tilt Tracking System
In object detection and tracking, we are often trying to balance the tradeoff between field-of-view (FOV) and pixels-on-target (POT). A wide FOV camera can see more of the scene, but a target may only occupy a few pixels. A telephoto camera can see a target in more detail, but it may not be able to see the target at all if it is outside the FOV.
This repository implements a prototype multi-camera target tracking platform with pan/tilt control to sidestep the tradeoff entirely. A fixed position wide-angle camera acquires a target (or multiple candidates), then a telephoto camera on a pan/tilt bracket tracks it via PID control. An initial calibration step loosely maps the wide-angle camera's pixel coordinates to pan/tilt servo positions, enabling target handoff to the telephoto camera.