JP2000040198A - Image pickup device and image pickup method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately recognize the feature of a vehicle passing through a road surface by applying a trigger for the fetch of an image for recognizing the feature of the vehicle such as a vehicle number without being controlled by the peripheral environment condition of picking up the image of the vehicle and without being controlled by traffic and road conditions. SOLUTION: This device 9 is provided with an image pickup camera 3 for picking the image inside a prescribed area, a light beam scanning detector 4 for scanning a light beam and detecting the vehicle traveling inside the area and a control part 9 for fetching the output of the image pickup camera 3 as image signals for a vehicle number recognition processing corresponding to the detection and performing the normalization processing of the image signals corresponding to the traveling position of the vehicle 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an imaging device and an imaging method for an object such as a vehicle.

[0002]

2. Description of the Related Art In a conventional image pickup apparatus, for example, an image pickup camera comprising a CCD camera is installed on a gantry crossing a highway, and a vehicle traveling on the highway is constantly imaged by the image pickup camera to detect the vehicle. Then trigger,
There is an image capturing apparatus that captures an image captured when the trigger is applied as an image for recognizing a vehicle feature such as a vehicle number into a memory and performs image processing on the image so that the feature of the vehicle can be recognized.

[0003]

As the above-mentioned trigger, a contrast difference between images of a road surface and a vehicle is used, and when the contrast difference changes, it is determined that the vehicle has passed, and a trigger for capturing a characteristic image of the vehicle is taken. An image pickup device that applies a vehicle and a loop coil is buried under the road surface or an ultrasonic vehicle detector is installed in the gantry, and when a vehicle detector such as a loop coil or an ultrasonic vehicle detector detects passage of a vehicle, the vehicle There is an imaging device of a type that triggers the capture of an image.

[0004] In the case of using the imaging camera itself without using the former vehicle detector, the imaging camera which is a CCD camera has a shading difference between the road surface image and the vehicle image even in the daytime at dusk, cloudy, or rainy day. Therefore, it is difficult to obtain a difference in shading between the vehicle and the road surface image even when the headlight is not lit even at night, and therefore, there is a case where a trigger for capturing a vehicle characteristic recognition image such as a vehicle number is not activated.
That is, in the former case, there is a problem that the image for recognizing the characteristics of the vehicle, such as the shape of the vehicle and the vehicle number, cannot be always taken in stably because it is easily influenced by the surrounding environmental conditions.

[0005] When the latter vehicle detector is used, it is possible to capture an image for recognizing vehicle characteristics irrespective of the surrounding environmental conditions. In the installation, only an image of a vehicle passing therethrough is captured, and an image of a vehicle traveling at an arbitrary position cannot be captured. In other words, in the latter case, there is a problem that in a traffic situation where vehicles traveling on the road are congested or traveling at high speed, it is not possible to accurately capture a vehicle characteristic recognition image for each vehicle.

Therefore, in the present invention, the trigger for taking in the image for recognizing the vehicle characteristics is surely independent of the environmental conditions surrounding the image of the vehicle and independent of traffic or road conditions. In this way, it is an object to solve the problem that it is possible to accurately recognize a feature of a vehicle passing through a road surface.

[0007]

According to the present invention, there is provided an image pickup means for picking up an image in a predetermined area, and an object detector capable of detecting an object in the area. In an imaging device that captures an output of the imaging unit when an object in an area is detected, a light beam scanning type detector that can scan an optical beam and detect an object in the area is used as the object detector. This solves the above-mentioned problem.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings.

Referring to FIG. 1, an image pickup apparatus according to the present embodiment, which is disposed on a gantry on a highway, will be described. FIG. 1 shows a one-way, one-lane expressway for convenience of explanation. A gantry 2 is installed across the lane 1 of the highway. The gantry 2 includes an imaging camera (imaging unit) 3 including a CCD camera provided in the imaging apparatus according to the present embodiment, and preferably a laser beam from a laser diode or the like, or a light for scanning a light beam from a light emitting diode or a lamp. A beam scanning type vehicle detector (object detector) 4 is commonly supported and installed. The scanning direction of the light beam is a direction crossing the lane 1, and the vehicle 5 entering the lane 1 can be detected.

The imaging camera 3 has a predetermined imaging area 6.

The vehicle detector 4 scans the vehicle 5 with the light beam 7 out of the width of the lane 1 in anticipation of the detection margin, and the vehicle enters the lane 1 portion toward the vehicle detector 4. 5 can be detected. Since the light beam is a laser beam, the vehicle detector 4 can reliably detect the entry of the vehicle 5 even when the surrounding environmental conditions are no or weak, such as daytime dusk, cloudy weather, or rainy weather. Even when the headlight of the vehicle 5 is not lit at night, the strobe 3a mounted on the imaging camera 3 can be driven to reliably detect the entry of the vehicle 5.

An image pickup apparatus according to the present embodiment has an image pickup camera 3
A predetermined area 6 is always imaged, and the vehicle detector 4 detects the vehicle 5 entering the lane 1 within a range where the light beam 7 reaches, and the detection of the vehicle 5 is used as a trigger, and the imaging camera is accordingly operated. The image of the vehicle 5 captured by the camera 3 can be captured. This makes it possible to reliably image the vehicle 5 irrespective of the traffic conditions or the speed of the vehicle 5 irrespective of the road conditions. The vehicle detector 4 is installed on the gantry 2 and scans the light beam 7 from above toward the road surface of the lane 1 in the scanning range A.
And scans the vehicle so as to cross the lane 1 to detect a vehicle 5 approaching the vehicle detector 4. The light beam 7
Since the mechanism for scanning itself is well known, the details are omitted.

According to the vehicle detector 4 of the present embodiment, since it is a light beam scanning type, a loop coil is buried at a plurality of locations in the approach direction, or a plurality of gantry in the approach direction are superimposed. Unlike the method of installing the sonic vehicle sensor, the installation cost can be reduced because the entry of a plurality of vehicles 5 can be detected in the approach direction of the vehicle 5 in the lane 1 only by installing one in one gantry.

In the image pickup apparatus according to the present embodiment, the vehicle number (numerals or characters) displayed on the license plate 8 at the front of the vehicle 5 can be recognized when the characteristics of the vehicle 5 are detected. Has become. In this recognition, even if the vehicle 5 is in any running position, and even if the license plate 8 is mounted at an angle from the regular mounting position, the vehicle characteristics such as the vehicle number displayed on the license plate 8 can be accurately determined. It is configured so that it can be easily recognized.

In the image pickup apparatus according to the present embodiment, the image pickup camera 4 is arranged near the center of the lane 1 on the gantry 1 so that the front of the vehicle 5 can be imaged from the front. For example, the imaging camera 3 and the vehicle detector 4 may be commonly installed on, for example, a road shoulder or a pole provided on the road side. Note that the name of the imaging camera may be the imaging camera. The present invention includes both photographing and imaging, and is not limited to any means as long as an imaging signal or imaging data can be obtained.

Further, the vehicle detector 4 is of a light beam scanning type. However, any means can be used as long as it can detect the vehicle without being affected by the surrounding environmental conditions, the vehicle speed, the distance between vehicles, and the like.

Although the present embodiment is characterized in that the light beam scanning type vehicle detector 4 is provided, the above-described loop coil, ultrasonic vehicle sensor, and the like are used only for detecting the vehicle position described later. Alternatively, a photoelectric sensor that can detect the vehicle by blocking or passing light when the vehicle passes, or a sensor that mechanically installs, for example, a tread plate on the road and that can detect the vehicle 5 by passing the vehicle 5 may be used.

In the present embodiment, the vehicle detector 4 uses the vehicle 5
To obtain the data of the position where the vehicle is imaged, and to enable accurate recognition of the vehicle number displayed on the license plate 8 regardless of the position of the vehicle 5 or even if the license plate 8 is attached at an angle. It also has features.

Referring to FIG. 2, the circuit configuration of the imaging apparatus according to the present embodiment will be described. The imaging apparatus according to the present embodiment includes the above-described imaging camera 3 and the above-described vehicle detector 4 and It further includes a control unit 9, a license plate image size normalization table 10, a license plate attachment angle normalization table 11, a license plate image data memory 12, and a license plate data output unit 13.

The control unit 9 is constituted by a microcomputer, and controls the driving of the vehicle detector 4 and the imaging camera 3.
Drive control, calculation of the traveling position of the vehicle 5, normalization processing of the image size and the mounting angle of the license plate 8,
Image recognition processing of the vehicle number is performed. The operation in each of these circuits will be described later. The control unit 9 drives the vehicle detector 4 to scan the light beam 7 while controlling the scanning angle and the scanning position of the light beam 7.

The calculation of the running position of the vehicle 5 by the control unit 9 is based on the position where the image of the vehicle 5 is picked up by the imaging camera 4, that is, the running position of the vehicle 5. This is because the size is different and data of the traveling position of the vehicle 5 is required to normalize the image. Here, the reason why the captured image of the license plate 8 is always normalized to a fixed size will be described.

That is, in the license plate image data memory 11, numerals and characters constituting the vehicle number are stored in a predetermined size, for example, in a rectangular area using a predetermined pixel and patterned. For example, one number or character is composed of a plurality of pixels in a predetermined vertical and horizontal area,
To perform pattern matching between these registered predetermined pixel configurations and the plurality of pixel configurations of the vehicle number and characters in the captured license plate image, the numbers and characters of the captured vehicle number are used. It is necessary to normalize the plurality of pixel configurations to be within a predetermined vertical and horizontal area. In this case, the image size of the license plate according to the imaging changes depending on the traveling position of the vehicle 5. Therefore, the image size of the numbers and characters constituting the vehicle number in the license plate image also changes, which is inconvenient for the pattern matching. Therefore, the license plate image size normalization table 10 stores data for normalizing the image size of the license plate to be imaged according to the traveling position of the vehicle 5. The control unit 9 calculates the traveling position of the vehicle 5, fetches normalized data corresponding to the calculated value from the license plate image size normalization table 10, and uses the fetched normalized data to obtain the size of the license plate image. Is normalized, and then compared with the registered numeral and character image data in the license plate image data memory 11 to read out the matched data, identify each numeral and character data of the vehicle number, and display a display unit or the like. The output unit 13 can output the data.

The calculation of the travel position of the vehicle 5 will be described with reference to FIG. 3. FIG. 1 shows the vehicle 5 for convenience of description.
Is traveling in the center of the lane 1 and the vehicle detector 4 corresponds to the center of the license plate 8 of the vehicle 5.
In this state, since the scanning angle of the light beam 7 is zero, the light beam 7 is scanned and emitted toward the vehicle 5 and then reflected by the vehicle 5 and returned to the vehicle detector 4. The travel position L of the vehicle 5 from the vehicle detector 4 is calculated in the time up to.

Next, it is necessary to perform image processing for cutting out numbers and characters constituting the vehicle number displayed on the image of the license plate 8 from the image. This cutout is required for pattern matching with the numbers and characters stored in the license plate image data memory 11 and the numbers and characters of the vehicle number of the cut out license plate. As shown in FIG. 4, this cutout is performed by cutting out the vehicle number "1234" of the license plate 8 within a predetermined rectangular area surrounded by a vertical character cutout line P1 and a horizontal character cutout line P2. I have.

By the way, the license plate 8 is not necessarily mounted correctly on the front part of the vehicle 5 and its numbers and characters are cut out as shown in FIG. 4, but may be mounted at an angle. . License plate 8
If the vehicle is tilted, the images of the numbers and characters constituting the vehicle number displayed on the license plate 8 are also distorted. For example, as shown in FIG.
The area surrounded by 1 and P2 is, for example, a diamond, and the image of the character “1234” in the diamond has distortion.

This makes the pattern matching impossible or inaccurate. Therefore, in the present embodiment, the license plate mounting angle normalizing table 12 is provided. The table 12 will be described. In order to correct the distortion of the numbers and characters as shown in FIG. 5, the intersection angle θx between the reference line P0 and the cutting line P1 is calculated from the intersection angle θ of both the cutting lines P1 and P2 as shown in FIG. . This calculation is θx = 90−θ. The table 12 stores the table shown in FIG. 7 corresponding to the intersection angle θx. In this table, [theta] x is 90- [theta] as described above, and when it is zero, it indicates that the license plate 8 is not inclined. According to this table, α indicates a vertical correction parameter, and β indicates a horizontal correction parameter. Then, a license plate inclination angle correction parameter γ is obtained from the vertical and horizontal correction parameters α and β through processing such as affine transformation, and the character image “1234” in FIG. 5 is multiplied by the correction parameter γ. Thus, normalized data of the character image “1234” in FIG. 4 is obtained.

The operation will be described with reference to the flowchart of FIG.

The control unit 9 determines whether the vehicle 5 has been detected based on the input of the output of the vehicle detector 4. When the vehicle 5 is detected, the determination is YES and the image of the vehicle captured by the imaging camera 3 is captured. Then, the control unit 9 calculates the traveling position of the vehicle from the scanning position and scanning angle of the light beam from the vehicle detector 4 and the time from the emission of the light beam to the return. Further, the control unit 9 performs recognition processing of the image of the license plate 8 of the vehicle 5 from the captured image of the leading portion of the vehicle 5 of the imaging camera 3. Then, the license plate image size normalization table 1 based on the traveling position of the vehicle 5
The correction parameter is read from 0, and the image size of the license plate 8 is normalized by the correction parameter. Further, the intersection angle θx between the numbers of the vehicle numbers displayed on the license plate 8 and the cutout lines P1 and P2 of the characters is calculated, and from the calculation result, the corresponding correction parameter γ is read out to the license plate mounting angle normalization table 12, and the license plate is read. The image numbers and characters of 8 are normalized. After these normalizations, the control unit 9 accesses the license plate image data memory 11, compares it with the character data registered therein, and recognizes the character of the license plate 8 if there is a matching character data. .

Referring to FIG. 9, an imaging apparatus according to another embodiment of the present invention will be described.

The imaging apparatus according to the second embodiment includes a single vehicle detector 4 and a plurality of first and second imaging cameras 3 in this example.
a and 3b are installed in the gantry 2, and the first vehicle 5a traveling in the first lane 1a is moved by the first imaging camera 3a to the second lane 1
b, a second vehicle 5b is driven by the second imaging camera 3b, and the vehicle detector 4 emits light beams to both lanes 1a,
Scanning can be performed in a wide range including 1b. In this case, each vehicle 5 traveling in each of the lanes 1a and 1b
Since the calculation of the travel position of each of a and 5b is the same, FIG. 10 illustrates the first vehicle 5a traveling on the first lane 1a side.

The control unit 9 drives the vehicle detector 4 to scan the light beam. The first vehicle 5a is located at a position deviated from the installation position of the vehicle detector 4 with respect to the gantry 2.
Therefore, assuming that the scanning angle of the light beam at the center of the license plate 8a is θ for image recognition of the license plate 8a of the first vehicle 5a, the traveling position L of the first vehicle 5a is equal to the scanning angle θ. This can be performed using a trigonometric function based on the time t from the emission of the light beam at the scanning angle θ to the return of the light beam and the linear distance D from the vehicle detector 4 to the vehicle 5a.

In the above embodiment, the object to be detected is a vehicle. However, the present invention is not limited to this. For example, objects such as articles and products conveyed side by side on a belt conveyor are detected. It does not matter as a target and does not ask about a detection target.

In the case of a vehicle, the passage through which the vehicle passes is a predetermined lane, but is not limited thereto. As long as passes through, an imaging camera on its path,
An object detector may be provided so that an object can be detected.

Further, the image pickup means is not limited to an image pickup camera such as a CCD camera, but may be an ordinary photographing camera. In the case of a photographing camera, the present invention includes an output that can be captured by an appropriate means.

In the above-described embodiment, the license plate image at the front of the vehicle entering the gantry 2 is recognized. However, the license plate image at the rear of the vehicle exiting the gantry 2 may be recognized. In that case, the imaging direction of the imaging camera 3 in FIG. 1 and the vehicle detection direction of the vehicle detector 4 are opposite.

In the above embodiment, the license plate image at the front of the vehicle is recognized, but both the recognition and the license plate image at the rear of the vehicle may be used.

In the above embodiment, the vehicle detector 4
Is installed in the gantry 2 and scans the light beam 7 in the scanning range A from above toward the road surface of the lane 1. Light beam 7 at the front of the vehicle 5
May not be scanned. Even in such a case, it is preferable that the light beam 7 can be scanned by all the vehicles when the vehicles come near or almost immediately below the gantry 2. Therefore, as shown in FIG. 11A, a vehicle detector 4a that scans far from the gantry 2 with a light beam 7a and a light beam 7 near the gantry 2 as shown in FIG.
The vehicle detector 4b scanning with b may be provided with two convenient units, and the vehicle detector 4a may detect a distant vehicle 5a, and the vehicle detector 4b may detect a nearby vehicle 5b. Alternatively, as shown in FIG. 11b, one vehicle detector 4 is attached so as to be capable of pendulum movement around the gantry 2 by a certain angle (a range between broken lines a and b), and the light beam 7 is moved from the gantry 1 to the near side. Vehicles 5a to 5c that can be scanned from a long distance to a short distance by sequentially scanning a wide range of
May be detected. These may be appropriately selected depending on whether the road surface on which they are installed is a highway or an ordinary road.

[0038]

As described above, according to the present invention, the following effects can be obtained.

According to the first aspect of the present invention, there is provided an image pickup means for picking up an image in a predetermined area, and an object detector capable of detecting an object in the area, wherein the object detector detects the object in the area. In an imaging device that captures the output of the imaging means when detecting an object, a light beam scanning type detector capable of scanning an optical beam and detecting an object in the area is used as the object detector. For example, when used as an imaging device for a vehicle, the light beam can be detected by the vehicle regardless of the environmental conditions surrounding the image of the vehicle and independent of traffic or road conditions. It is possible to apply a trigger for taking in an image for recognizing a feature of a vehicle such as a vehicle number.

According to the second aspect of the present invention, in the first aspect, the output of the imaging means is captured as an image signal for object recognition processing in response to the detection of the object. Vehicle characteristic recognition processing such as a vehicle number can be performed.

According to the third aspect of the present invention, an image pickup means for picking up an image in a predetermined area, a light beam scanning type detector for scanning a light beam to detect an object, and the image pickup means in response to the detection Image processing means for capturing and processing the output of the image as an image signal for object recognition processing, so that when this is used, for example, as an imaging device for a vehicle, the light beam is not affected by the surrounding environmental conditions for imaging the vehicle. In addition, vehicles can be detected without being affected by traffic or road conditions.Accordingly, a trigger for capturing an image for recognizing vehicle characteristics such as a vehicle number is triggered in accordance with the detection, and the road surface is accurately detected. Recognition processing of passing vehicle features becomes possible.

According to a fourth aspect of the present invention, in the third aspect, there is provided a calculating means for calculating a position of the object from an output of the light beam scanning type detector, and wherein the image processing means comprises: , The image processing can be performed according to the position of the object.

According to a fifth aspect of the present invention, in the fourth aspect, the image processing means performs a normalization process for an object recognition process based on the calculation output, so that the image processing of the object is normalized. Image recognition of the object can be easily performed.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, there are provided a plurality of the image pickup means, and an image pickup signal from each image pickup means in response to detection of an object by the light beam scanning type detector. Is used for the predetermined processing, so that the installation cost of the detector can be reduced.

According to the seventh aspect of the present invention, in any one of the first to sixth aspects, since the object to be detected is a vehicle, it is not affected by environmental conditions around the image of the vehicle. The vehicle can be detected without being influenced by the road condition. In response to this detection, a trigger for capturing an image for recognizing a vehicle feature such as a vehicle number is applied, and the output of the imaging unit is subjected to an object recognition process. As a result, it is possible to accurately recognize vehicle characteristics such as a vehicle number that passes through the road surface.

According to the invention of claim 8, in claim 7, the normalization processing by the image processing means is the normalization processing of the image size of the license plate, so that the image processing according to the traveling position of the vehicle can be performed. Thus, image recognition becomes more accurate.

According to the ninth aspect of the present invention, in the eighth aspect, the normalization processing by the image processing means is a normalization processing for a predetermined mounting position of the license plate. Also, the image is normalized, and the image recognition of the vehicle number can be easily performed.

According to the tenth aspect, in any one of the first to ninth aspects, the light beam scanning type detector and the imaging means are provided on a common support.
The timing of scanning the light beam and the timing of capturing the output of the imaging means can be more accurately matched, and as a result, accurate image recognition can be more easily performed. According to the invention of claim 11, when a predetermined area is imaged by the imaging means, the light beam is scanned in the direction of the object by the light beam scanning type detector, and the object is detected by the light beam scanning type detector. In response to this detection, the output of the imaging means is captured, so that when this is used, for example, as an imaging method for a vehicle, the light beam is not affected by the surrounding environmental conditions for imaging the vehicle, and the traffic and road conditions The vehicle can be detected without being affected by the detection of the vehicle, and accordingly, a trigger for capturing an image for recognizing a feature of the vehicle such as a vehicle number can be triggered in accordance with the detection.

According to the twelfth aspect of the present invention, in accordance with the eleventh aspect, the output of the imaging means is fetched as an object recognition processing signal in response to the detection, and the processing is performed. Becomes possible.

According to a thirteenth aspect of the present invention, in the twelfth aspect, the position of the object is calculated, and the processing is performed according to the calculated position of the object, so that image processing can be performed according to the position of the object. Thus, image recognition becomes more accurate.

According to a fourteenth aspect of the present invention, in any one of the eleventh to thirteenth aspects, the object is a vehicle that enters or exits the road surface toward the light beam scanning type detector. A feature recognition process of a vehicle such as a vehicle number passing on a road surface can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view of a road provided with an imaging device according to an embodiment of the present invention.

FIG. 2 is a circuit block diagram of the imaging device of FIG. 1;

FIG. 3 is a diagram used to explain detection of a traveling position of a vehicle in the imaging device in FIG. 1;

FIG. 4 is an explanatory diagram of a license plate recognition process in the imaging device of FIG. 1;

FIG. 5 is an explanatory diagram of a license plate recognition process in the imaging device of FIG. 1;

FIG. 6 is an explanatory diagram of a license plate recognition process in the imaging device of FIG. 1;

FIG. 7 is a diagram used to explain a normalization process at a mounting angle of a license plate.

8 is a flowchart used to describe the operation of the imaging apparatus in FIG.

FIG. 9 is a plan view of a road provided with an imaging device according to another embodiment of the present invention.

10 is a diagram used to explain detection of a traveling position of a vehicle in the imaging device in FIG. 9;

FIG. 11 is a diagram showing each modified example of the attachment of the vehicle detector to the gantry.

[Explanation of symbols]

 Reference Signs List 1 lane 2 gantry 3 imaging camera 4 vehicle detector (light beam scanning type detector) 5 vehicle 6 imaging area 7 light beam 8 license plate

Claims (14)

[Claims] An image pickup means for picking up an image in a predetermined area;
An image detector comprising: an object detector capable of detecting an object in the region, wherein the object detector detects an object in the region and captures an output of the imaging unit. An image pickup apparatus using a light beam scanning type detector capable of scanning an object and detecting an object in the area. 2. An imaging apparatus according to claim 1, wherein an output of said imaging means is taken in as an image signal for object recognition processing in response to detection of said object. 3. An image pickup means for picking up an image in a predetermined area, a light beam scanning type detector for scanning a light beam to detect an object, and an output of the image pickup means for object recognition processing in response to the detection. An image processing apparatus comprising: an image processing unit that captures and processes an image signal. 4. The image processing device according to claim 3, further comprising a calculating unit configured to calculate a position of the object from an output of the light beam scanning type detector, wherein the image processing unit performs the processing according to the position of the object. An imaging device characterized by the above-mentioned. 5. The imaging device according to claim 4, wherein the image processing means performs a normalization process for an object recognition process based on the calculation output. 6. The imaging device according to claim 1, wherein a plurality of said imaging means are provided, and an output of each of the imaging means is taken in according to detection of an object by said light beam scanning type detector. Imaging device. 7. The imaging apparatus according to claim 1, wherein the object to be detected is a vehicle. 8. The imaging apparatus according to claim 7, wherein the normalization processing by the image processing means is a normalization processing of a license plate image size. 9. The imaging apparatus according to claim 8, wherein the normalization processing by the image processing means is a normalization processing for a predetermined mounting position of the license plate. 10. The imaging apparatus according to claim 1, wherein the light beam scanning type detector and the imaging means are provided on a common support. 11. A predetermined area is imaged by an imaging means, a light beam is scanned in a direction of an object by a light beam scanning type detector, and the object is detected by the light beam scanning type detector. Capturing an output of the imaging means in response to the request. 12. The imaging method according to claim 11, wherein an output of said imaging means is fetched as an object recognition processing signal in accordance with said detection and processed. 13. The imaging method according to claim 12, wherein a position of the object is calculated, and the processing is performed according to the calculated position of the object. 14. The imaging method according to claim 11, wherein the object is a vehicle that enters or exits on a road surface toward the light beam scanning type detector.