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Large field of view with high resolution has always been sought-after for mobile robotic authentication. So the vision system proposed here is composed of a catadioptric sensor for full range monitoring and a Pan Tilt Zoom (PTZ) camera together forming an innovative sensor, able to detect and track any moving objects at a higher zoom level. In the authors' application, the catadioptric sensor is calibrated and used to detect and track Regions Of Interest (ROIs) within its 360 degree Field Of View (FOV), especially face regions. Using a joint calibration strategy, the PTZ camera parameters are automatically adjusted by the system in order to detect and track the face ROI within a higher resolution and project the same in face space for recognition via Eigen face algorithm.
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