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The external calibration of a camera system is essential for most of the applications that involve an omnidirectional and a pan-tilt-zoom (PTZ) camera. The methods in the literature fall into two major categories; (1) a complete external calibration of the system which allows all degrees of freedom but highly time consuming, (2) spatial mapping between the pixel coordinates in omnidirectional camera and pan/tilt angles of the PTZ camera instead of explicitly computing the rotation anddoi:10.1016/j.patrec.2015.11.013 fatcat:7llfmi2uozhzfhh6v6beptjqpm