JP2012151800A - Imaging apparatus and network system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus capable of satisfactorily reproducing a subject close to the imaging apparatus and a subject remote from the imaging apparatus as a 3D image.SOLUTION: An imaging apparatus 200 comprises: a first stereo camera 291 for photographing a first 3D image by photographing the anterior of the imaging apparatus; a second stereo camera 292 which has a larger convergence angle than that of the first stereo camera and is configured to photograph a second 3D image by photographing the anterior of the imaging apparatus; and a processor 210 for creating a third 3D image by replacing a portion indicating a subject closer to the imaging apparatus in the first 3D image with a portion indicating a subject in the second 3D image.

Description

  The present invention relates to a technique of a photographing apparatus for photographing a 3D image.

  An imaging device having a plurality of cameras with different focal lengths is known. For example, Japanese Patent Laid-Open No. 11-261797 (Patent Document 1) discloses an image processing method. According to Japanese Patent Laid-Open No. 11-261797 (Patent Document 1), image data of a plurality of images obtained by photographing the scene at different focal lengths and information on a subject to be noted in the scene are obtained. For at least a subject to be noticed, image data of a plurality of images taken at different focal lengths is synthesized using image data of an image in which the subject is focused, and image data of one image is generated. .

JP-A-11-261797

  However, regarding a stereo camera including a right camera for acquiring a right-eye image and a left camera for acquiring a left-eye image, an image of a near subject and an image of a distant subject can be displayed well. Have difficulty.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a photographing apparatus that can reproduce a subject close to the photographing apparatus and a subject far from the photographing apparatus in 3D. There is.

  According to an aspect of the present invention, a first stereo camera for photographing the first 3D image by photographing the front of the photographing device, and a second 3D image by photographing the front of the photographing device. A second stereo camera having a larger angle of convergence than the first stereo camera, and a portion of the first 3D image that indicates an object close to the imaging device, and an object in the second 3D image. An imaging device is provided comprising a processor for creating a third 3D image by replacing the portion shown.

  Preferably, the photographing apparatus further includes a communication interface for communicating with the controller, and a moving unit for moving the photographing apparatus based on a command from the controller. The processor sends the third 3D image to the controller via the communication interface.

  Preferably, the photographing apparatus further includes a display. The processor causes the third 3D image to be displayed on the display.

  According to another aspect of the present invention, the communication interface for communicating with the controller, the moving unit for moving the imaging device based on a command from the controller, and the first 3D by imaging the front of the imaging device. A first stereo camera for photographing an image, and a second stereo camera having a larger convergence angle than the first stereo camera for photographing a second 3D image by photographing the front of the photographing device. And a processor for transmitting the first and second 3D images to the controller via the communication interface.

  Preferably, the first stereo camera includes two first cameras having a first focal length. The second stereo camera includes two second cameras having a second focal length that is shorter than the first focal length.

  Preferably, the first stereo camera includes two first cameras having a first angle of view. The second stereo camera includes two second cameras having a second field angle wider than the first field angle.

  When another situation of this invention is followed, a network system provided with an imaging device and a controller is provided. The imaging device has a first stereo camera for capturing a first 3D image by capturing the front of the imaging device, and a second 3D image for capturing the front of the imaging device. The second stereo camera having a larger angle of convergence than the first stereo camera and the portion of the first 3D image that indicates an object close to the imaging device are replaced with the portion of the second 3D image that indicates the object. Thus, including a processor for creating a third 3D image and a first communication interface for transmitting the third 3D image to the controller. The controller includes a second communication interface for receiving a third 3D image from the imaging device and a display for displaying the third 3D image received from the imaging device.

  When another situation of this invention is followed, a network system provided with an imaging device and a controller is provided. The imaging device has a first stereo camera for capturing a first 3D image by capturing the front of the imaging device, and a second 3D image for capturing the front of the imaging device. A second stereo camera having a larger angle of convergence than the first stereo camera; and a first communication interface for transmitting the first and second 3D images to the controller. The controller includes a display, a second communication interface for receiving the first and second 3D images from the imaging device, and a portion of the first 3D image that indicates an object close to the imaging device. A processor for creating a third 3D image by replacing the portion of the 3D image with an object indicating the object, and causing the display to display the third 3D image.

  Preferably, the photographing apparatus further includes a moving unit for moving the photographing apparatus based on a command from the controller. The controller further includes an operation unit for receiving a command. The second communication interface transmits a command to the photographing apparatus.

  As described above, according to the present invention, it is possible to provide an imaging apparatus that can reproduce both a subject close to the imaging apparatus and a subject far from the imaging apparatus in 3D.

It is an image figure which shows the whole structure of the network system 1 which concerns on this Embodiment. It is a block diagram showing the hardware constitutions of the controller 100 which concerns on this Embodiment. It is an image figure which shows the state which the user which concerns on this Embodiment inputs the command for creating the course for the radio controlled car 200. FIG. It is an image figure which shows the controller 100 in the normal mode and race mode which concern on this Embodiment. It is an image figure which shows the controller 100 just before the start of the race which concerns on this Embodiment. It is an image figure which shows the controller 100 when the radio controlled car 200 concerning this Embodiment is located just before the goal point of a race. It is a block diagram showing the hardware constitutions of the radio controlled car 200 which concerns on this Embodiment. It is a front view of the camera 290 which concerns on this Embodiment. It is an image figure which shows the imaging | photography range of the 3D camera 291 for middle-long distances concerning this Embodiment (or 3D stereo camera 292 for short distances), and the synthesized 3D image. It is an image figure which shows the convergence angle of 3D camera 291 for medium and long distances and 3D camera 292 for short distances which concerns on this Embodiment. It is an image figure which shows the angle of view of 3D camera 291 for medium and long distances and 3D camera 292 for short distances which concerns on this Embodiment. It is an image figure which shows the synthetic | combination process of the image of the 3D camera 291 for medium and long distances and the image of the 3D camera 291 for short distances concerning this Embodiment. It is an image figure which shows the modification of camera 290B. 4 is a flowchart illustrating a control method in the controller 100 according to the first embodiment. 6 is a flowchart illustrating a control method in the controller 100 according to the second embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[Embodiment 1]
Hereinafter, a radio controlled car will be described as a representative example of the “photographing device”. However, the “photographing device” only needs to have a short-distance 3D camera and a long-distance 3D camera, as will be described later. For example, the imaging device may be a digital camera, a helicopter or airplane that can fly, or a robot that can walk. In the case of a helicopter or an airplane, it is preferable to include an altimeter that acquires the altitude of the photographing apparatus. In addition, the “controller” may be dedicated to the control of the radio controlled car, or has a communication interface with a display such as a portable telephone, personal computer, electronic notebook, PDA (Personal Digital Assistant) having other functions. It may be a device.

  More specifically, in the present embodiment, the imaging device synthesizes a short distance image and a long distance image. The imaging apparatus transmits the composite image to the controller 100. The controller 100 displays the composite image. However, as will be described later, the image capturing apparatus itself, that is, the display of the photographing apparatus, may display the composite image.

<Overview of network system operation>
First, an outline of the operation of the network system 1 according to the present embodiment will be described. FIG. 1 is an image diagram showing an overall configuration of a network system 1 according to the present embodiment.

  Referring to FIG. 1, network system 1 includes controllers 100X and 100Y and radio controlled cars 200X and 200Y. Hereinafter, the controllers 100X and 100Y are collectively referred to as the controller 100 for the sake of explanation. The radio controlled cars 200X and 200Y are collectively referred to as a radio controlled car 200.

  Each user places the radio controlled car 200 on the ground of a park or a garden. The user controls the operation of the radio controlled car 200 via the controller 100.

  The radio controlled car 200 is equipped with a 3D stereo camera for photographing the front of the radio controlled car 200. More specifically, the radio controlled car 200 includes a 3D stereo camera for medium and long distances and a 3D stereo camera for short distances. More specifically, the focal length of the short distance 3D stereo camera is shorter than the focal length of the medium and long distance 3D stereo camera. The convergence angle of the short distance 3D stereo camera is larger than the convergence angle of the medium and long distance 3D stereo camera. The angle of view of the 3D stereo camera for short distance is larger than the angle of view of the 3D stereo camera for medium and long distances.

  In the present embodiment, the radio controlled car 200 synthesizes a 3D image captured by a 3D stereo camera for medium and long distances and a 3D image captured by a 3D stereo camera for short distances. The radio controlled car 200 sequentially transmits the composite image to the controller 100.

  The radio controlled car 200 is equipped with a GPS (Global Positioning System) for measuring the current position of the radio controlled car 200. The radio controlled car 200 sequentially transmits the current position to the controller 100.

  The radio controlled car 200 is equipped with an electronic compass for measuring the current direction (attitude) of the radio controlled car 200. The radio controlled car 200 transmits the current direction to the controller 100 sequentially. The radio controlled car 200 may transmit the composite image, the current position, and the current orientation to the controller 100 at the same time or separately.

  The controller 100 displays the composite image from the radio controlled car 200. While viewing the composite image, the user inputs commands for moving the radio controlled car 200 to the controller 100 (forward command, reverse command, direction change command, acceleration / deceleration command, hereinafter these commands are also referred to as movement commands). . The controller 100 transmits a movement command from the user to the radio controlled car 200.

  In the present embodiment, the controller 100 accumulates time series data (course creation time series data) of the current position from the radio controlled car 200. The controller 100 acquires the trajectory of the radio controlled car 200 based on the time series data. The controller 100 creates data indicating a course (circuit) for the radio controlled car 200 based on the trajectory of the radio controlled car 200.

  Data indicating a course (also referred to as course data) includes a 3D object such as a white line indicating a course track or a course pylon. The course position, shape, and orientation are associated with actual map data. Alternatively, the course position, shape, and orientation are associated with latitude and longitude.

  However, the controller 100 may accept a course creation command via the touch panel 130 or the like. For example, the controller 100 receives a slide operation on the map from the user while the map is displayed. The controller 100 determines the position, shape, and orientation of the course based on the slide operation.

  Alternatively, the controller 100 may store a plurality of course data in advance. That is, even if the radio controlled car 200 does not run, the user may select a desired course from a plurality of courses prepared in advance. In this case, for example, the position, shape, and orientation of the course are associated with map data or latitude / longitude in advance. Alternatively, only the shape of the course is prepared, and when the user selects a course, the position and orientation of the course may be designated by the user.

  After the course is determined, the controller 100 starts a race based on a user instruction. The controller 100 acquires the position and orientation of the radio controlled car 200 in the course based on the course data and the current position and orientation of the radio controlled car 200. Based on the position and orientation of the radio controlled car 200 in the course, the controller 100 creates a virtual image indicating the 3D object viewed from the radio controlled car 200 from the course data.

  For example, after creating 3D model data of a circuit, the controller 100 determines the viewpoint of the 3D model data based on the position and orientation of the radio controlled car 200 on the circuit. The controller 100 creates a display image (virtual image) of 3D model data from the viewpoint.

  The controller 100 displays the virtual image superimposed on the synthesized image from the radio controlled car 200.

  In the present embodiment, the first controller 100X for controlling the first radio controlled car 200X can communicate with the second controller 100Y for controlling the second radio controlled car 200Y. The first controller 100X transmits course data to the second controller 100Y and receives course data from the second radio controlled car 200Y.

  That is, the first controller 100X and the second controller 100Y can control the traveling of the radio controlled cars 200X and 200Y based on the common course data. For example, the user of the first controller 100X can perform a race along the course while looking at the composite image from the first radio controlled car 200X, that is, while viewing the actual video of the second radio controlled car 200Y. it can. The same applies to the second controller 100Y.

  As described above, in the network system 1 according to the present embodiment, the user can control the movement of the radio controlled car 200 with the line of sight of the radio controlled car 200 while viewing the image (virtual image) indicating the virtual course. it can. As a result, the user can make the control of the movement of the radio controlled car 200 full of realism.

  In the network system 1 according to the present embodiment, the radio controlled car 200 synthesizes the 3D image captured by the medium-long distance 3D stereo camera and the 3D image captured by the short-distance 3D stereo camera. Therefore, both a subject far from the imaging device (such as a building that appears far away) and a subject close to the imaging device (such as another radio controlled car) can be reproduced well.

  Hereinafter, a specific configuration of the network system 1 for realizing such a function will be described in detail.

<Configuration of Controller 100>
One aspect of a specific configuration of the controller 100 will be described. FIG. 2 is a block diagram showing a hardware configuration of controller 100 according to the present embodiment. Referring to FIG. 2, controller 100 includes a CPU 110, a memory 120, a touch panel 130, a speaker 140, a button 150, a memory interface 160, a communication interface 170, and a clock 180 as main components. .

  The memory 120 is realized by various types of RAM (Random Access Memory), ROM (Read-Only Memory), a hard disk, and the like. The memory 120 stores a program executed by the CPU 110, map data, various model data for indicating a virtual course, and the like. In other words, the CPU 110 controls each unit of the controller 100 by executing a program stored in the memory 120.

  The touch panel 130 includes a tablet 132 and a display 131 laid on the surface of the tablet 132. As will be described later, when the radio controlled car 200 includes a 3D camera, the display 131 is preferably a 3D display.

  The touch panel 130 may be any type such as a resistance film method, a surface acoustic wave method, an infrared method, an electromagnetic induction method, and a capacitance method. The touch panel 130 may include an optical sensor liquid crystal. The touch panel 130 (tablet 132) detects a touch operation on the touch panel 130 by an external object every predetermined time, and inputs the touch coordinates (touch position) to the CPU 110. In other words, the CPU 110 sequentially acquires touch coordinates from the touch panel 130.

  The speaker 140 outputs sound based on a command from the CPU 110. For example, CPU 110 causes speaker 140 to output sound based on the sound data.

  The button 150 is disposed on the surface of the controller 100. A plurality of buttons such as a direction key, a determination key, and a numeric keypad may be arranged on the controller 100. The button 150 receives a command from the user. The button 150 inputs a command from the user to the CPU 110.

  The memory interface 160 reads data from the external storage medium 161. In other words, the CPU 110 reads data stored in the external storage medium 161 via the memory interface 160 and stores the data in the memory 120. Conversely, the CPU 110 reads data from the memory 120 and stores the data in the external storage medium 161 via the memory interface 160.

  The storage medium 161 includes a CD (Compact Disc), a DVD (Digital Versatile Disk), a BD (Blu-ray Disc), a USB (Universal Serial Bus) memory, a memory card, an FD (Flexible Disk), a hard disk, and a magnetic tape. , Cassette tape, MO (Magnetic Optical Disc), MD (Mini Disc), IC (Integrated Circuit) card (excluding memory card), optical card, EPROM, EEPROM (Electronically Erasable Programmable Read-Only Memory) And a medium for storing the program.

  The communication interface 170 is realized by an antenna or a connector. The communication interface 170 exchanges data with the radio controlled car 200 and other controllers 100 by wireless communication. CPU 110 receives a program, map data, and the like from another computer via communication interface 170. The CPU 110 transmits course data to the other controller 100 and receives course data from the other controller 100 via the communication interface 170. The CPU 110 transmits a movement command to the radio controlled car 200 via the communication interface 170, and receives a composite image, the current position, and the current orientation from the radio controlled car 200.

The clock 180 measures time or a period based on a command from the CPU 110.
The CPU 110 controls each unit of the controller 100 by executing a program stored in the memory 120 or the storage medium 161. For example, the CPU 110 executes a control process of the radio controlled car 200 by executing a program stored in the memory 120 or the storage medium 161.

  Specifically, CPU 110 receives the composite image from radio controlled car 200 via communication interface 170. CPU 110 causes touch panel 130 to display the composite image. CPU 110 accepts a command (movement command) for moving radio controlled car 200 from the user via touch panel 130 or button 150. CPU 110 transmits a movement command to radio controlled car 200 via communication interface 170.

  CPU 110 receives the current position and orientation from radio controlled car 200 via communication interface 170. CPU 110 stores time series data of the current position of radio controlled car 200 in memory 120.

  CPU110 acquires the locus | trajectory of the radio controlled car 200 based on time series data. The CPU 110 creates data indicating the course for the radio controlled car 200 based on the trajectory of the radio controlled car 200.

  Data indicating a course (also referred to as course data) includes 3D objects (model data) such as a white line 301X indicating a center line of the course, a white line 302X indicating an end line of the course, and a course pylon 303X. The CPU 110 associates the course position, shape, and orientation with actual map data. Alternatively, the CPU 110 associates the position, shape, and direction of the course with latitude / longitude.

  Alternatively, the CPU 110 may create the course data without causing the radio controlled car 200 to travel. More specifically, CPU 110 according to the present embodiment accepts a map acquisition command from the user via touch panel 130 or button 150. The CPU 110 downloads map data from an external server or the like via the communication interface 170. The CPU 110 may read map data from the memory 120 or the storage medium 161.

  CPU 110 accepts a command for creating a course for radio controlled car 200 from the user via touch panel 130 or button 150. FIG. 3 is an image diagram showing a state in which a user according to the present embodiment inputs a command for creating a course for radio controlled car 200.

  Referring to FIG. 3, CPU 110 accepts a slide operation by the user while displaying a map image on touch panel 130. For example, the CPU 110 acquires the locus of the finger on the map image by sequentially acquiring the touch position of the finger on the map image via the touch panel 130.

  Alternatively, the CPU 110 displays a map image and a pointer on the touch panel 130. The CPU 110 receives a pointer movement command from the user via the button 150. CPU110 acquires the locus | trajectory of the pointer on a map image by acquiring sequentially the position with respect to the map image of a pointer. For example, the user moves the pointer by operating a direction key while pressing a predetermined key.

  CPU110 produces the data which show the course for the radio controlled car 200 based on the locus | trajectory of the said finger | toe. The CPU 110 creates a course pylon, a track line, etc. for indicating the end of the course on both sides of the trajectory.

  Alternatively, the controller 100 may store a plurality of course data in advance. That is, the user may select a desired course from a plurality of courses prepared in advance. In this case, for example, the position, shape, and orientation of the course are associated with map data or latitude / longitude in advance. Alternatively, only the shape of the course is prepared, and the position and orientation of the course may be designated when the user selects the course.

  In the present embodiment, CPU 110 transmits course data to other controllers 100 and receives course data from other controllers 100. The CPU 110 stores the course data received from the other controller 100 in the memory 120. CPU 110 accepts selection of the course data from the user via touch panel 130 or button 150.

  For example, a user of the first and second controllers 100X and 100Y can race by running the first and second radio controlled cars 200X and 200Y simultaneously on the same course.

  After the course is determined, the CPU 110 starts a race based on a user instruction. The CPU 110 acquires the position and orientation of the radio controlled car 200 in the course based on the course data and the current position and orientation of the radio controlled car 200.

  CPU110 creates the virtual image which shows the 3D object seen from the radio controlled car 200 from the data of the course based on the position and direction of the radio controlled car 200 in the course. CPU110 superimposes and displays a virtual image on the synthesized image from radio controlled car 200. FIG. For example, the radio controlled car 200 of another controller 100 may be reflected in the composite image.

  FIG. 4 is an image diagram showing controller 100 in the normal mode and the race mode according to the present embodiment. More specifically, FIG. 4A is an image diagram showing the touch panel 130 of the controller 100 before the race starts or when the radio controlled car 200 is running to create a course. FIG. 4B is an image diagram showing the touch panel 130 of the controller 100 during the race.

  Referring to FIG. 4A, CPU 110 causes touch panel 130 to display a composite image from radio controlled car 200 before the race starts or when radio controlled car 200 is running to create a course. . 4B, when the race starts or during the race, the CPU 110 adds a white line 301X indicating the center of the course, a white line 302X indicating the end of the course, to the composite image from the radio controlled car 200. A virtual image such as the Cospylon 303X is superimposed.

  More specifically, the CPU 110 may superimpose a 2D or 3D virtual image suitable for starting a race on the composite image on the touch panel 130. That is, the memory 120 stores a start virtual image. FIG. 5 is an image diagram showing the controller 100 immediately before the start of the race according to the present embodiment.

  Referring to FIG. 5, CPU 110 receives a start point and a goal point in the course via touch panel 130 or button 150. CPU110 reads a virtual image from the memory 120, when a race is started based on the present position and direction of the radio controlled car 200 in a course. CPU 110 causes touch panel 130 to display a composite image, white lines 301X and 302X, coarse pylon 303X, characters indicating the start timing, an image of a traffic light, and the like.

  Further, the CPU 110 may cause the touch panel 130 to display a 2D or 3D virtual image suitable for the race goal on the composite image. That is, the memory 120 stores a goal virtual image. FIG. 6 is an image diagram showing the controller 100 when the radio controlled car 200 according to the present embodiment is located immediately before the goal point of the race.

  The CPU 110 receives a start point and a goal point in the course via the touch panel 130 or the button 150. CPU 110 accepts designation of how many weeks the course is to be performed via touch panel 130 or button 150.

  Referring to FIG. 6, CPU 110 reads a virtual image from memory 120 when radio controlled car 200 approaches the goal point based on the current position and orientation of radio controlled car 200 on the course. CPU 110 causes touch panel 130 to display a composite image, white lines 301X and 302X, course pylon 303X, an image showing a goal point, and the like.

<Configuration of radio controlled car 200>
Next, an aspect of a specific configuration of the radio controlled car 200 will be described. FIG. 7 is a block diagram showing a hardware configuration of radio controlled car 200 according to the present embodiment. Referring to FIG. 7, the radio controlled car 200 includes, as main components, a CPU 210, a memory 220, a moving mechanism 230, a GPS 240, an electronic compass 250, a memory interface 260, a communication interface 270, a watch 280, and the like. , And camera 290.

  The memory 220 is realized by various RAMs, ROMs, hard disks, and the like. The memory 220 stores a program executed by the CPU 210 and the like. In other words, the CPU 210 controls each part of the radio controlled car 200 by executing a program stored in the memory 220.

  The moving mechanism 230 moves the radio controlled car 200 based on a command from the CPU 210. For example, the moving mechanism 230 includes a motor, a shaft, a tire, and the like. However, the moving mechanism 230 may be a propeller, a wing, a leg, or the like. The moving mechanism 230 moves the radio controlled car 200 in accordance with a moving command from the controller 100.

  The GPS 240 acquires the current position of the radio controlled car 200. The current position is transmitted to the controller 100 via the communication interface 270.

  The electronic compass 250 acquires the direction of the radio controlled car 200. The direction is transmitted to the controller 100 via the communication interface 270.

  The memory interface 260 reads data from the external storage medium 261. In other words, the CPU 210 reads data stored in the external storage medium 261 via the memory interface 260 and stores the data in the memory 220. Conversely, the CPU 210 reads data from the memory 220 and stores the data in the external storage medium 261 via the memory interface 260.

  Since the storage medium 261 is implemented in the same manner as the storage medium 161 of the controller 100, description thereof will not be repeated here.

  The communication interface 270 is realized by an antenna or a connector. The communication interface 270 exchanges data with the controller 100 by wireless communication. In other words, the CPU 210 receives a movement command from the controller 100 via the communication interface 270, and transmits a composite image, the current position, and the current orientation.

The clock 280 measures time or a period based on a command from the CPU 210.
The camera 290 is disposed at the front part of the radio controlled car 200. FIG. 8 is a front view of camera 290 according to the present embodiment. FIG. 9 is an image diagram showing the shooting range of the 3D camera 291 for medium and long distances (or the 3D stereo camera 292 for short distances) and the synthesized 3D image according to the present embodiment.

  With reference to FIG. 7 and FIG. 8, the camera 290 captures a scene in front of the radio controlled car 200. The camera 290 includes a 3D camera 291 for medium and long distances and a 3D camera 292 for short distances. In the present embodiment, the medium and long distance 3D camera 291 and the short distance 3D camera 292 are both facing the front of the radio controlled car 200. A 3D camera 291 for medium and long distances is disposed above the 3D camera 292 for short distances.

  The medium and long distance 3D camera 291 includes a right camera 291R having a first focal length and a left camera 291L having a first focal length. The short distance 3D camera 292 includes a right camera 292R having a second focal length shorter than the first focal length and a left camera 292L having a second focal length shorter than the first focal length.

  Referring to FIG. 9, it is assumed that right camera 291R (292R) and left camera 291L (292L) have photographed subjects A, B, C, and D positioned in front of radio controlled car 200. The subject C is assumed to be located at a convergence point between the right camera 291R (292R) and the left camera 291L (292L).

  Due to the parallax between the right camera 291R (292R) and the left camera 291L (292L), in the display 131, the subject A is displayed on the display 131 at a position different from the image AR for the right eye and the image AR for the left eye. Displayed as image AL. The subject B is displayed on the display 131 as the image BR for the right eye and the image BL for the left eye displayed at a position different from the image BR. The subject C is displayed on the display 131 as an image C for the left eye displayed at the same position as the image C for the right eye and the image C for the right eye. Similarly, the subject D is displayed on the display 131 as the image DR for the right eye and the image DL for the left eye displayed at a position different from the image DR.

  FIG. 10 is an image diagram showing the convergence angles of the 3D camera 291 for medium and long distances and the 3D camera 292 for short distances according to the present embodiment. Referring to FIG. 10, in the present embodiment, the convergence angle θ1 of the right camera 291R and the left camera 291L constituting the 3D camera 291 for medium and long distance is the right camera constituting the 3D camera 292 for short distance. It is smaller than the convergence angle θ2 of 292R and the left camera 292L.

  FIG. 11 is an image diagram showing the angle of view of the 3D camera 291 for medium and long distances and the 3D camera 292 for short distances according to the present embodiment. Referring to FIG. 11, in the present embodiment, the right camera 291R and the left camera 291L constituting the 3D camera 291 for medium and long distances have the same angle of view as the right camera 292R constituting the 3D camera 292 for short distance. And the angle of view of the left camera 292L.

  As a result, the object located on the front side of the photographing apparatus is photographed by the 3D camera 292 for short distance. That is, in the composite image, the object located on the front side of the photographing apparatus can be reproduced better. In other words, not only a subject that is a medium to long distance forward from the photographing apparatus, but also a subject that is a short distance away from the front and front sides of the photographing apparatus can be reproduced more clearly. For example, when the photographing device is a radio controlled car, the user can see a more realistic image when overtaking another radio controlled car 200.

  FIG. 12 shows a synthesis process of the image of the 3D camera 291 (for example, the left camera 291L) for medium and long distance and the image of the 3D camera 292 for short distance (for example, the left camera 292L) according to the present embodiment. It is an image figure. More specifically, FIG. 12A shows an image photographed by the 3D camera 291 for medium and long distances. FIG. 12B shows an image taken by the short-distance 3D camera 292. FIG. 12C shows an image of an area in focus among images taken by the short-distance 3D camera 292. FIG. 12D illustrates an image obtained by enlarging an image of an area in focus among images captured by the short-distance 3D camera 292. FIG. 12E shows a composite image of an image of the 3D camera 291 for medium and long distances and an enlarged image of the 3D camera 292 for short distances.

  Referring to FIGS. 12A and 12B, in the present embodiment, the angle of view of 3D camera 291 for medium and long distance is smaller than the angle of view of 3D camera 292 for short distance. The subject of the image photographed by the 3D camera 291 is represented larger than the subject of the image photographed by the short-distance 3D camera 292. Referring to FIGS. 12C and 12D, the CPU 210 (CPU 110) displays an image of a subject at a short distance from the 3D camera 292 captured by the short distance 3D camera 292, as a 3D camera for medium and long distances. The image is enlarged in accordance with the image taken at 291. That is, with reference to FIG. 12E, the CPU 210 (CPU 110), the image captured by the medium-long distance 3D camera 291 and the image of the subject captured by the short-distance 3D camera 292 and enlarged. Are combined (superimposed).

  FIG. 13 is an image diagram showing a modification of the camera 290B. Referring to FIG. 13, in the modification, a 3D camera 291 for medium and long distances and a 3D camera 292 for short distances are arranged vertically. A half mirror 293 is disposed between the 3D camera 291 for medium and long distances and the 3D camera 292 for short distances. Thereby, the parallax between the 3D camera 291 for medium and long distances and the 3D camera 292 for short distances is reduced. The configurations of the 3D camera 291 for medium and long distances and the 3D camera 292 for short distances are the same as those of the camera 290, and thus description thereof will not be repeated here.

  The CPU 210 controls each unit of the radio controlled car 200 by executing a program stored in the memory 220 or the storage medium 261. For example, the CPU 210 executes a program stored in the memory 220 or the storage medium 261.

  More specifically, the CPU 210 according to the present embodiment synthesizes a 3D image captured by the medium-long distance 3D stereo camera 291 and a 3D image captured by the short-distance 3D stereo camera 292. For example, the CPU 210 recognizes a plurality of subjects (objects). For each subject, the CPU 210 has a display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 greater than or equal to a predetermined distance from the display position in the left-eye image obtained from the left camera 291L. It is determined whether or not it is located on the left side. Alternatively, for each subject, the CPU 210 determines that the display position in the left-eye image obtained from the left camera 291L of the medium-long distance 3D stereo camera 291 is a predetermined distance from the display position in the right-eye image obtained from the right camera 291R. As described above, it is determined whether or not it is located on the right side.

  For the subject, the CPU 210 has a display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 that is greater than or equal to a predetermined distance from the display position in the left-eye image obtained from the left camera 291L. The portion corresponding to the subject in the image obtained from the medium and long distance 3D stereo camera 291 is assigned to the subject in the image obtained from the short distance 3D stereo camera 292. A composite image is created by replacing the corresponding part. On the other hand, regarding the subject, the display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 is greater than or equal to a predetermined distance from the display position in the left-eye image obtained from the left camera 291L. When not located on the left side, a portion corresponding to the subject in the image obtained from the 3D stereo camera 291 for medium and long distance is used as a composite image.

  The CPU 210 sequentially transmits the composite image to the controller 100 via the communication interface 270. The CPU 210 transmits the current position and orientation of the radio controlled car 200 to the controller 100 via the communication interface 270 in response to a request from the controller 100 or periodically. The CPU 210 receives a movement command from the controller 100 via the communication interface 270. The CPU 210 drives the movement mechanism 230 based on the movement command.

  For example, the CPU 210 receives a forward command, a reverse command, a direction change command, an acceleration / deceleration command, and the like as a movement command via the communication interface 270. The CPU 210 drives the moving mechanism 230 based on the command to move the radio controlled car 200 forward, backward, change direction, or increase the speed.

  In the present embodiment, the radio controlled car 200 has been described on behalf of the imaging device. However, the imaging device only needs to have two types of 3D cameras having different convergence angles. For example, the photographing apparatus may have a display and a touch panel like a digital camera. In that case, the CPU 210 displays a composite image created from the 3D image captured by the 3D stereo camera 291 for medium and long distances and the 3D image captured by the 3D stereo camera 292 for short distances on the display of the image capturing apparatus itself. Or on a touch panel.

<Control method>
Below, the process performed with the controller 100 which concerns on this Embodiment is mainly demonstrated. That is, a method for controlling radio controlled car 200 in controller 100 according to the present embodiment will be described. FIG. 14 is a flowchart showing a control method in controller 100 according to the first embodiment.

  Referring to FIG. 14, when CPU 110 of controller 100 receives a race start command from the user via touch panel 130 or button 150, it executes the processing from step S <b> 106. In the following, it is assumed that the CPU 110 has received the current position and orientation from the radio controlled car 200 once via the communication interface 170.

  CPU 110 creates course 3D virtual data by reading course data from memory 120 (step S106). CPU 110 determines whether a composite image or the current position and orientation are received from radio controlled car 200 via communication interface 170 (step S108). CPU110 repeats the process of step S108, when a composite image or the present position and direction are not received from the radio controlled car 200 (when it is NO in step S108).

  When the CPU 110 receives the composite image and the current position and orientation from the radio controlled car 200 (YES in step S108), the viewpoint for the 3D virtual model indicating the course based on the current position and orientation of the latest radio controlled car 200 is displayed. Is determined (step S112). More specifically, the CPU 110 determines the viewpoint for the 3D virtual model based on the position and orientation in the course.

  CPU 110 creates a 3D virtual image from the determined viewpoint (step S114). CPU110 superimposes the newest 3D virtual image produced on the newest synthesized image (step S116). CPU 110 causes touch panel 130 to display a composite image of the latest composite image and the latest 3D virtual image (step S118).

  CPU 110 determines whether an instruction for ending the race is received from the user via touch panel 130 or button 150 (step S120). CPU110 repeats the process from step S108, when the command for ending a race is not received (when it is NO in step S120). CPU110 complete | finishes the control process of the radio controlled car 200, when the command for complete | finishing a race is received (when it is YES in step S120).

[Embodiment 2]
Next, a second embodiment of the present invention will be described. In the network system 1 according to the first embodiment, the radio controlled car 200 generates a composite image. On the other hand, in the network system 1 according to the present embodiment, the radio controlled car 200 is captured by the 3D stereo camera 291 for medium and long distances and the 3D image captured by the 3D stereo camera 292 for short distances. To the controller 100. Then, the controller 100 generates a composite image.

  Hereinafter, the description of the same configuration as that of network system 1 according to Embodiment 1 will not be repeated.

<Overview of network system operation>
First, an outline of the operation of the network system 1 according to the present embodiment will be described.

  Referring to FIG. 1, network system 1 includes controllers 100X and 100Y and radio controlled cars 200X and 200Y. Again, for the sake of explanation, the controllers 100X and 100Y are collectively referred to as the controller 100. The radio controlled cars 200X and 200Y are collectively referred to as a radio controlled car 200.

  The user places the radio controlled car 200 on the ground of a park or garden. The user controls the operation of the radio controlled car 200 via the controller 100.

  The radio controlled car 200 is equipped with a 3D stereo camera for photographing the front of the radio controlled car 200. More specifically, the radio controlled car 200 includes a 3D stereo camera for medium and long distances and a 3D stereo camera for short distances. More specifically, the focal length of the short distance 3D stereo camera is shorter than the focal length of the medium and long distance 3D stereo camera. The convergence angle of the short distance 3D stereo camera is larger than the convergence angle of the medium and long distance 3D stereo camera. The angle of view of the 3D stereo camera for short distance is larger than the angle of view of the 3D stereo camera for medium and long distances.

  In the present embodiment, the radio controlled car 200 sequentially transmits a 3D image captured by a 3D stereo camera for medium and long distances and a 3D image captured by a 3D stereo camera for short distances to the controller 100. .

  The radio controlled car 200 is equipped with a GPS for measuring the current position of the radio controlled car 200. The radio controlled car 200 sequentially transmits the current position to the controller 100.

  The radio controlled car 200 is equipped with an electronic compass for measuring the current direction (attitude) of the radio controlled car 200. The radio controlled car 200 transmits the current direction to the controller 100 sequentially. The radio controlled car 200 may transmit the medium-long distance and short-distance 3D images, the current position, and the current orientation to the controller 100 at the same time or separately.

  In the present embodiment, the controller 100 receives, from the radio controlled car 200, a 3D image captured by a 3D stereo camera for medium and long distances and a 3D image captured by a 3D stereo camera for short distances. The controller 100 synthesizes the 3D image captured by the 3D stereo camera 291 for medium and long distances and the 3D image captured by the 3D stereo camera 292 for short distances. The controller 100 displays the composite image.

  While viewing the composite image, the user inputs commands for moving the radio controlled car 200 to the controller 100 (forward command, reverse command, direction change command, acceleration / deceleration command, hereinafter these commands are also referred to as movement commands). . The controller 100 transmits a movement command from the user to the radio controlled car 200.

  In the present embodiment, the controller 100 accumulates time series data (course creation time series data) of the current position from the radio controlled car 200. The controller 100 acquires the trajectory of the radio controlled car 200 based on the time series data. The controller 100 creates data indicating a course (circuit) for the radio controlled car 200 based on the trajectory of the radio controlled car 200.

  Data indicating a course (also referred to as course data) includes a 3D object such as a white line indicating a course track or a course pylon. The course position, shape, and orientation are associated with actual map data. Alternatively, the course position, shape, and orientation are associated with latitude and longitude.

  However, the controller 100 may accept a course creation command via the touch panel 130 or the like. For example, the controller 100 receives a slide operation on the map from the user while the map is displayed. The controller 100 determines the position, shape, and orientation of the course based on the slide operation.

  Alternatively, the controller 100 may store a plurality of course data in advance. That is, even if the radio controlled car 200 does not run, the user may select a desired course from a plurality of courses prepared in advance. In this case, for example, the position, shape, and orientation of the course are associated with map data or latitude / longitude in advance. Alternatively, only the shape of the course is prepared, and when the user selects a course, the position and orientation of the course may be designated by the user.

  After the course is determined, the controller 100 starts a race based on a user instruction. The controller 100 acquires the position and orientation of the radio controlled car 200 in the course based on the course data and the current position and orientation of the radio controlled car 200. Based on the position and orientation of the radio controlled car 200 in the course, the controller 100 creates a virtual image indicating the 3D object viewed from the radio controlled car 200 from the course data.

  For example, after creating 3D model data of a circuit, the controller 100 determines the viewpoint of the 3D model data based on the position and orientation of the radio controlled car 200 on the circuit. The controller 100 creates a display image (virtual image) of 3D model data from the viewpoint.

  The controller 100 superimposes and displays the virtual image on the composite image generated by itself.

  Also in the present embodiment, the first controller 100X for controlling the first radio controlled car 200X can communicate with the second controller 100Y for controlling the second radio controlled car 200Y. The first controller 100X transmits course data to the second controller 100Y and receives course data from the second radio controlled car 200Y.

  That is, the first controller 100X and the second controller 100Y can control the traveling of the radio controlled cars 200X and 200Y based on the common course data. For example, the user of the first controller 100X can perform a race along the course while watching the synthesized image generated by the user, that is, while watching the actual video of the second radio controlled car 200Y. The same applies to the second controller 100Y.

  As described above, in the network system 1 according to the present embodiment, the user can control the movement of the radio controlled car 200 with the line of sight of the radio controlled car 200 while viewing the image (virtual image) indicating the virtual course. it can. As a result, the user can make the control of the movement of the radio controlled car 200 full of realism.

  In the network system 1 according to the present embodiment, the controller 100 synthesizes the 3D image captured by the medium-long distance 3D stereo camera and the 3D image captured by the short-distance 3D stereo camera. Therefore, a subject far from the imaging device (such as a building that appears far away) and a subject that is near from the imaging device (such as another radio-controlled car) can be reproduced well together.

  Hereinafter, a specific configuration of the network system 1 for realizing such a function will be described in detail.

<Configuration of Controller 100>
Since the hardware configuration of controller 100 is the same as that of the first embodiment, description thereof will not be repeated here. Below, operation | movement of CPU110 of the controller 100 is demonstrated.

  The CPU 110 controls each unit of the controller 100 by executing a program stored in the memory 120 or the storage medium 161. For example, the CPU 110 executes a control process of the radio controlled car 200 by executing a program stored in the memory 120 or the storage medium 161.

  Specifically, the CPU 110 receives, via the communication interface 170, a 3D image captured by the 3D stereo camera for medium and long distances and a 3D image captured by the 3D stereo camera for short distances from the radio controlled car 200. To do. The CPU 110 synthesizes the 3D image captured by the 3D stereo camera for medium and long distances and the 3D image captured by the 3D stereo camera for short distances.

  For example, the CPU 110 recognizes a plurality of subjects. For each subject, the CPU 110 has a display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 greater than or equal to a predetermined distance from a display position in the left-eye image obtained from the left camera 291L. It is determined whether it is located on the left side. Alternatively, the CPU 110 determines, for each subject, the display position in the left-eye image obtained from the left camera 291L of the medium-long distance 3D stereo camera 291 is a predetermined distance from the display position in the right-eye image obtained from the right camera 291R. As described above, it is determined whether or not it is located on the right side.

  For the subject, the CPU 110 determines that the display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 is more than a predetermined distance from the display position in the left-eye image obtained from the left camera 291L. The portion corresponding to the subject in the image obtained from the medium and long distance 3D stereo camera 291 is assigned to the subject in the image obtained from the short distance 3D stereo camera 292. A composite image is created by replacing the corresponding part. On the other hand, regarding the subject, the display position in the right-eye image obtained from the right camera 291R of the medium-long distance 3D stereo camera 291 is greater than a predetermined distance from the display position in the left-eye image obtained from the left camera 291L. When not located on the left side, a portion corresponding to the subject in the image obtained from the 3D stereo camera 291 for medium and long distance is used as a composite image. CPU 110 causes touch panel 130 to display the composite image.

  CPU 110 accepts a command (movement command) for moving radio controlled car 200 from the user via touch panel 130 or button 150. CPU 110 transmits a movement command to radio controlled car 200 via communication interface 170.

  CPU 110 receives the current position and orientation from radio controlled car 200 via communication interface 170. CPU 110 stores time series data (course creation time series data) of the current position and direction of radio controlled car 200 in memory 120.

  CPU110 acquires the locus | trajectory of the radio controlled car 200 based on the time series data for course creation. The CPU 110 creates data indicating the course for the radio controlled car 200 based on the trajectory of the radio controlled car 200.

  Data indicating a course (also referred to as course data) includes a 3D object (model data) such as a white line indicating a course track or a course pylon. The CPU 110 associates the course position, shape, and orientation with actual map data. Alternatively, the CPU 110 associates the position, shape, and direction of the course with latitude / longitude.

  Alternatively, the CPU 110 may create the course data without causing the radio controlled car 200 to travel. More specifically, CPU 110 according to the present embodiment accepts a map acquisition command from the user via touch panel 130 or button 150. The CPU 110 downloads map data from an external server or the like via the communication interface 170. The CPU 110 may read map data from the memory 120 or the storage medium 161.

  CPU 110 accepts a command for creating a course for radio controlled car 200 from the user via touch panel 130 or button 150. Referring to FIG. 3, CPU 110 accepts a slide operation by the user while displaying a map image on touch panel 130. For example, the CPU 110 acquires the locus of the finger on the map image by sequentially acquiring the touch position of the finger on the map image via the touch panel 130.

  Alternatively, the CPU 110 displays a map image and a pointer on the touch panel 130. The CPU 110 receives a pointer movement command from the user via the button 150. CPU110 acquires the locus | trajectory of the pointer on a map image by acquiring sequentially the position with respect to the map image of a pointer. For example, the user moves the pointer by operating a direction key while pressing a predetermined key.

  CPU110 produces the data which show the course for the radio controlled car 200 based on the locus | trajectory of the said finger | toe. The CPU 110 creates a course pylon, a track line, etc. for indicating the end of the course on both sides of the trajectory.

  Alternatively, the controller 100 may store a plurality of course data in advance. That is, the user may select a desired course from a plurality of courses prepared in advance. In this case, for example, the position, shape, and orientation of the course are associated with map data or latitude / longitude in advance. Alternatively, only the shape of the course is prepared, and the position and orientation of the course may be designated when the user selects the course.

  In the present embodiment, CPU 110 transmits course data to other controllers 100 and receives course data from other controllers 100. The CPU 110 stores the course data received from the other controller 100 in the memory 120. CPU 110 accepts selection of the course data from the user via touch panel 130 or button 150.

  For example, a user of the first and second controllers 100X and 100Y can race by running the first and second radio controlled cars 200X and 200Y simultaneously on the same course.

  After the course is determined, the CPU 110 starts a race based on a user instruction. The CPU 110 acquires the position and orientation of the radio controlled car 200 in the course based on the course data and the current position and orientation of the radio controlled car 200.

  CPU110 creates the virtual image which shows the 3D object seen from the radio controlled car 200 from the data of the course based on the position and direction of the radio controlled car 200 in the course. The CPU 110 superimposes and displays the virtual image on the composite image generated by itself. For example, the radio controlled car 200 of another controller 100 may be reflected in the composite image.

  Also in the present embodiment, referring to FIG. 4A, the CPU 110 generates a composite image generated by itself before the race starts or when the radio controlled car 200 is running to create a course. Is displayed on the touch panel 130. 4B, when the race starts or during the race, the CPU 110 adds a white line 301X indicating the center of the course, a white line 302X indicating the end of the course, A virtual image such as the pylon 303X is superimposed.

  Further, the CPU 110 may superimpose a 2D or 3D virtual image suitable for starting a race on the composite image on the touch panel 130. That is, the memory 120 stores a start virtual image.

  Referring to FIG. 5, CPU 110 receives a start point and a goal point in the course via touch panel 130 or button 150. CPU110 reads a virtual image from the memory 120, when a race is started based on the present position and direction of the radio controlled car 200 in a course. CPU 110 causes touch panel 130 to display a composite image, white lines 301X and 302X, coarse pylon 303X, characters indicating the start timing, an image of a traffic light, and the like.

  Further, the CPU 110 may cause the touch panel 130 to display a 2D or 3D virtual image suitable for the race goal on the composite image. That is, the memory 120 stores a goal virtual image.

  The CPU 110 receives a start point and a goal point in the course via the touch panel 130 or the button 150. CPU 110 accepts designation of how many weeks the course is to be performed via touch panel 130 or button 150.

  Referring to FIG. 6, CPU 110 reads a virtual image from memory 120 when radio controlled car 200 approaches the goal point based on the current position and orientation of radio controlled car 200 on the course. CPU 110 causes touch panel 130 to display a composite image, white lines 301X and 302X, course pylon 303X, an image showing a goal point, and the like.

<Configuration of radio controlled car 200>
Note that the hardware configuration of the radio controlled car 200 is the same as that of the first embodiment, and therefore description thereof will not be repeated here. More specifically, in the present embodiment, the CPU 210 of the radio controlled car 200 uses the 3D stereo camera 291 for medium and long distances and the 3D stereo camera for short distances via the communication interface 270. The 3D image captured at 292 is transmitted to the controller 100. That is, the CPU 210 does not need to synthesize both 3D images.

<Control method>
Below, the process performed with the controller 100 which concerns on this Embodiment is mainly demonstrated. That is, a method for controlling radio controlled car 200 in controller 100 according to the present embodiment will be described. FIG. 15 is a flowchart illustrating a control method in the controller 100 according to the second embodiment.

  Referring to FIG. 15, when CPU 110 of controller 100 receives a race start command from the user via touch panel 130 or button 150, it executes the processing from step S <b> 206. In the following, it is assumed that the CPU 110 has received the current position and orientation from the radio controlled car 200 once via the communication interface 170.

  The CPU 110 creates the 3D virtual data of the course by reading the course data from the memory 120 (step S206). The CPU 110 via the communication interface 170, the 3D image captured by the 3D stereo camera 291 for medium and long distances from the radio controlled car 200 and the 3D image captured by the 3D stereo camera 292 for short distance or the current radio controlled car 200. It is determined whether the position and orientation have been received (step S208). CPU110 repeats the process of step S208, when 3D image or the present position and direction are not received from the radio controlled car 200 (when it is NO in step S208).

  When the CPU 110 receives the 3D image and the current position and orientation from the radio controlled car 200 (YES in step S208), the viewpoint of the 3D virtual model indicating the course based on the current position and orientation of the latest radio controlled car 200 is displayed. Is determined (step S212). More specifically, the CPU 110 determines the viewpoint for the 3D virtual model based on the position and orientation in the course.

  The CPU 110 creates a 3D virtual image from the determined viewpoint (step S214). The CPU 110 synthesizes the latest 3D image captured by the medium and long distance 3D stereo camera 291 and the 3D image captured by the short distance 3D stereo camera 292 (step S215). CPU110 superimposes the newest 3D virtual image produced on the newest synthesized image (step S216). CPU 110 causes touch panel 130 to display a composite image of the latest composite image and the latest 3D virtual image (step S218).

  CPU 110 determines whether an instruction for ending the race has been received from the user via touch panel 130 or button 150 (step S220). CPU110 repeats the process from step S208, when the command for ending a race is not received (when it is NO in step S220). CPU110 complete | finishes the control processing of the radio controlled car 200, when the command for complete | finishing a race is received (when it is YES in step S220).

<Other application examples>
It goes without saying that the present invention can also be applied to a case where it is achieved by supplying a program to a system or apparatus. Then, external storage media 161, 261 and memories 120, 220 storing programs represented by software for achieving the present invention are supplied to the system or apparatus, and the computer (or CPU or MPU of the system or apparatus) is supplied. ) Can also read and execute the program code stored in the external storage medium 161, 261 or the memory 120, 220, so that the effects of the present invention can be enjoyed.

  In this case, the program code itself read from the external storage media 161 and 261 and the memories 120 and 220 realizes the functions of the above-described embodiment, and the external storage media 161 and 261 storing the program code are provided. The memories 120 and 220 constitute the present invention.

  Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an OS (operating system) running on the computer based on the instruction of the program code However, it is needless to say that a case where the function of the above-described embodiment is realized by performing part or all of the actual processing and the processing is included.

  Furthermore, the program code read from the external storage medium 161, 261 or the memory 120, 220 is written to another storage medium provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instruction of the program code, and the functions of the above-described embodiment may be realized by the processing. Needless to say, it is included.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  1 network system, 100 controller, 110 CPU, 120 memory, 130 touch panel, 131 display, 132 tablet, 140 speaker, 150 button, 160 memory interface, 161 storage medium, 170 communication interface, 180 clock, 200 radio controlled car, 210 CPU, 220 memory, 230 moving mechanism, 240 GPS, 250 electronic compass, 260 memory interface, 261 storage medium, 270 communication interface, 280 clock, 290 camera, 291 medium and long distance stereo camera, 291L left camera, 291R right camera, 292 short distance Stereo camera, 292L Left camera, 292R Right camera, 293 Half mirror, 301X White line indicating the center of the course , 302X White line indicating the end of the course, 303X Causpiron.

Claims (9)

A photographing device,
A first stereo camera for photographing a first 3D image by photographing the front of the photographing device;
A second stereo camera having a convergence angle larger than that of the first stereo camera for photographing a second 3D image by photographing the front of the photographing device;
A processor for creating a third 3D image by replacing a portion indicating the object close to the imaging device in the first 3D image with a portion indicating the object in the second 3D image. An imaging device comprising: A communication interface for communicating with the controller;
A moving unit for moving the photographing apparatus based on a command from the controller;
The imaging device according to claim 1, wherein the processor transmits the third 3D image to the controller via the communication interface. A display,
The imaging device according to claim 1, wherein the processor displays the third 3D image on the display. A photographing device,
A communication interface for communicating with the controller;
A moving unit for moving the photographing apparatus based on a command from the controller;
A first stereo camera for photographing a first 3D image by photographing the front of the photographing device;
A second stereo camera having a convergence angle larger than that of the first stereo camera for photographing a second 3D image by photographing the front of the photographing device;
An imaging apparatus comprising: a processor for transmitting the first and second 3D images to the controller via the communication interface. The first stereo camera includes two first cameras having a first focal length;
5. The photographing apparatus according to claim 1, wherein the second stereo camera includes two second cameras having a second focal length shorter than the first focal length. 6. The first stereo camera includes two first cameras having a first angle of view;
5. The photographing apparatus according to claim 1, wherein the second stereo camera includes two second cameras having a second field angle wider than the first field angle. 6. A network system including a photographing device and a controller,
The imaging device
A first stereo camera for photographing a first 3D image by photographing the front of the photographing device;
A second stereo camera having a convergence angle larger than that of the first stereo camera for photographing a second 3D image by photographing the front of the photographing device;
A processor for creating a third 3D image by replacing a portion indicating the object close to the imaging device in the first 3D image with a portion indicating the object in the second 3D image. When,
A first communication interface for transmitting the third 3D image to the controller;
The controller is
A second communication interface for receiving the third 3D image from the imaging device;
A network system including a display for displaying the third 3D image received from the imaging apparatus. A network system including a photographing device and a controller,
The imaging device
A first stereo camera for photographing a first 3D image by photographing the front of the photographing device;
A second stereo camera having a convergence angle larger than that of the first stereo camera for photographing a second 3D image by photographing the front of the photographing device;
A first communication interface for transmitting the first and second 3D images to the controller;
The controller is
Display,
A second communication interface for receiving the first and second 3D images from the imaging device;
A third 3D image is created by replacing a portion indicating the object close to the imaging device in the first 3D image with a portion indicating the object in the second 3D image, and And a processor for displaying three 3D images on the display. The photographing apparatus further includes a moving unit for moving the photographing apparatus based on a command from the controller,
The controller further includes an operation unit for receiving the command,
The network system according to claim 7 or 8, wherein the second communication interface transmits the command to the imaging apparatus.