JP2000148972A - Image recognition device - Google Patents

Image recognition device

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Publication number
JP2000148972A
JP2000148972A JP10316039A JP31603998A JP2000148972A JP 2000148972 A JP2000148972 A JP 2000148972A JP 10316039 A JP10316039 A JP 10316039A JP 31603998 A JP31603998 A JP 31603998A JP 2000148972 A JP2000148972 A JP 2000148972A
Authority
JP
Japan
Prior art keywords
azimuth
camera
optical axis
image recognition
axis direction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP10316039A
Other languages
Japanese (ja)
Inventor
Kazuhiko Hatano
和彦 波多野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP10316039A priority Critical patent/JP2000148972A/en
Publication of JP2000148972A publication Critical patent/JP2000148972A/en
Withdrawn legal-status Critical Current

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  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

PROBLEM TO BE SOLVED: To quickly detect an object in a system which photographs within a monitoring area with a standard lens while changing photographing directions and performs image recognition of an object to be monitored. SOLUTION: When an object detecting device 2 detects some object, a microcomputer 24 starts an image recognition operation of an object. The microprocessor 24 successively changes the photographing directions of a camera 10 within a monitoring area from an initial direction at the beginning and performs image recognition of the object with an image recognition circuit 18. When the circuit 18 recognizes the object, it calculates the center position of the object in a photographic viewpoint and outputs information showing a direction in the angle of a photographic view to the microcomputer 24. The microcomputer 24 calculates the direction of the object to be monitored in the monitoring area from the information and camera optical axis direction information from an optical axis direction detecting device 20 and stores it in a memory 26. After that, the microcomputer 24 refers to the direction information history of the object to be monitored which is stored in the memory 26 and scans in the monitoring area with the direction having the highest probability that the object to be monitored exists as an initial position, and the circuit 18 performs image recognition of the object to be monitored.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【発明の属する技術分野】本発明は、監視領域内に存在
する対象物を検出する画像認識装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image recognition apparatus for detecting an object existing in a monitoring area.

【0002】[0002]

【従来の技術】従来、比較的広い監視領域に存在する対
象物を1台の撮像装置で検出するためには、監視領域を
カバーする広角のレンズを用いるか、又は、標準レンズ
のカメラの場合には、そのカメラの撮影視野を監視領域
内で移動させる撮影方向移動機構を設ける必要があっ
た。
2. Description of the Related Art Conventionally, in order to detect an object existing in a relatively wide monitoring area with a single imaging device, a wide-angle lens covering the monitoring area is used, or a camera having a standard lens is used. It was necessary to provide a photographing direction moving mechanism for moving the photographing field of view of the camera within the monitoring area.

【0003】[0003]

【発明が解決しようとする課題】しかし、広角レンズを
備えた撮像装置は、精度の高い画像認識を実現するため
に、高解像度のレンズと高解像度の撮像素子が必要にな
り、非常に高価なものになるという欠点があった。
However, an image pickup apparatus equipped with a wide-angle lens requires a high-resolution lens and a high-resolution image sensor in order to realize highly accurate image recognition, and is very expensive. There was a drawback that it would be.

【0004】また、比較的安価な標準レンズと上述の撮
影方位移動機構を備えた撮像装置では、従来、監視領域
内に存在する対象物の検出動作をいつも同一位置から始
めるので、対象物を検出するまでに要する時間が長いと
いう欠点があった。
Further, in an image pickup apparatus equipped with a relatively inexpensive standard lens and the above-described shooting azimuth moving mechanism, conventionally, the operation of detecting an object present in a monitoring area always starts from the same position. There is a disadvantage that it takes a long time to complete.

【0005】本発明は、安価な標準レンズと撮影方向移
動機構を有する撮像装置を用いて、対象物をより迅速に
精度良く検出できる画像認識装置を提示することを目的
とする。
SUMMARY OF THE INVENTION It is an object of the present invention to provide an image recognizing apparatus capable of detecting an object more quickly and accurately by using an inexpensive standard lens and an image pickup apparatus having a photographing direction moving mechanism.

【0006】[0006]

【課題を解決するための手段】本発明に係る画像認識装
置は、監視すべき領域内をカバーする範囲内で撮影方位
を変更自在なカメラと、物体が監視領域内に侵入した事
を検出する物体検出手段と、当該カメラの光軸方向を検
出する光軸方向検出手段と、当該カメラの撮影画面内に
おける監視対象物の方位を検出する方位検出手段と、当
該カメラの撮影方位を制御する撮影方位制御手段と、上
記光軸方向検出手段によって検出された光軸方向の情報
と当該方位検出手段によって検出された方位情報とから
当該監視対象物の監視領域内における方位を算出する方
位演算手段と、当該方位演算手段の演算結果を逐次的に
記憶する記憶手段と、当該記憶手段に記憶される方位情
報から、当該監視対象物が存在する確率の最も高いカメ
ラの光軸方向を算出する光軸方向演算手段と、当該光軸
方向演算手段で算出された光軸方向を初期位置として当
該監視対象物の画像認識動作を開始させる制御手段とを
備えることを特徴とする。
SUMMARY OF THE INVENTION An image recognition apparatus according to the present invention detects a camera capable of changing a shooting direction within a range covering an area to be monitored and detects that an object has entered the monitoring area. Object detecting means, optical axis direction detecting means for detecting the optical axis direction of the camera, azimuth detecting means for detecting the azimuth of a monitoring target in a shooting screen of the camera, and shooting for controlling the shooting azimuth of the camera Azimuth control means, azimuth calculation means for calculating the azimuth in the monitoring area of the monitored object from the information of the optical axis direction detected by the optical axis direction detection means and the azimuth information detected by the azimuth detection means; A storage unit for sequentially storing the calculation results of the azimuth calculation unit; and calculating the optical axis direction of the camera having the highest probability of the existence of the monitoring target from the azimuth information stored in the storage unit. And the optical axis direction calculation means for, characterized in that it comprises a control means for starting the image recognition operation of the monitored object in the optical axis direction calculated in the optical axis direction calculation means as an initial position.

【0007】一旦、監視対象物が認識されると、以後
は、記憶手段に記憶された監視対象物の移動履歴から監
視対象物の存在する確率の最も高い光軸方向を算出し、
その方向を初期位置として走査を開始するので、監視対
象物を短時間で検出又は認識できる。カメラ画界内を均
一に照明する照明装置を備えることにより、暗い場所に
設置されても充分な精度をもって監視対象物を認識でき
る。
Once the object to be monitored is recognized, the direction of the optical axis with the highest probability of the existence of the object to be monitored is calculated from the movement history of the object to be monitored stored in the storage means.
Since scanning is started with the direction as the initial position, the monitoring target can be detected or recognized in a short time. By providing an illumination device that uniformly illuminates the inside of the camera image field, the monitoring target can be recognized with sufficient accuracy even when installed in a dark place.

【0008】[0008]

【実施例】以下、図面を参照して、本発明の実施例を詳
細に説明する。
Embodiments of the present invention will be described below in detail with reference to the drawings.

【0009】図1は、本発明の一実施例の概略構成ブロ
ック図を示す。10は標準画角のレンズ及び撮影方向移
動機構を有するカメラ、12は、カメラ10の撮影方向
と同方向を照明する照明装置である。カメラ10と照明
装置12の直前には、赤外線透過フィルタ14が配置さ
れている。
FIG. 1 is a schematic block diagram showing an embodiment of the present invention. Reference numeral 10 denotes a camera having a standard angle of view lens and a shooting direction moving mechanism. Reference numeral 12 denotes an illumination device that illuminates the camera 10 in the same shooting direction. Immediately before the camera 10 and the illumination device 12, an infrared transmission filter 14 is arranged.

【0010】16は照明装置12の照明方向及びカメラ
10の撮影方向を変更する駆動回路、18はカメラ10
から出力される画像信号から画像認識技術により対象物
を認識する画像認識回路、20はカメラ10の撮影方向
を検出する光軸方向検出装置、22は、画像認識すべき
対象物の存在を機械的又は物理的に検出する物体検出装
置である。物体検出装置22は、例えば、本実施例の前
面又は、本実施例の設置される部屋の入口等に設置され
る。物体検出装置22は、例えば、超音波、電波又は赤
外線などにより、物体の有無を検出する。
A driving circuit 16 changes the illumination direction of the illumination device 12 and the photographing direction of the camera 10.
An image recognition circuit for recognizing an object by an image recognition technique from an image signal output from the camera, 20 is an optical axis direction detecting device for detecting a shooting direction of the camera 10, and 22 is a device for mechanically detecting the presence of an object to be image-recognized. Alternatively, it is an object detection device for physically detecting. The object detection device 22 is installed, for example, at the front of the present embodiment or at the entrance of the room where the present embodiment is installed. The object detection device 22 detects the presence or absence of an object by using, for example, ultrasonic waves, radio waves, or infrared rays.

【0011】24は、全体を制御するマイクロコンピュ
ータ、26はマイクロコンピュータ24が使用するメモ
リである。
Reference numeral 24 denotes a microcomputer for controlling the entire system, and reference numeral 26 denotes a memory used by the microcomputer 24.

【0012】図2は、本実施例の配置例を示す平面図で
ある。図2では、本実施例の装置が、部屋の全体を監視
領域としうるように、部屋の片隅に配置される。図2に
Wで示す画角範囲が監視領域であり、θは、カメラ10
の撮影視野を示す。監視領域の画角W内でカメラ10を
パンニングすることにより、監視領域内に存在する対象
物を検出できる。例えば、画角Wをカメラ10の画角θ
で複数の領域に分割し、その分割された領域内を逐次撮
影することで、監視領域内に存在する対象物を画像とし
て検出する。
FIG. 2 is a plan view showing an arrangement example of the present embodiment. In FIG. 2, the device of the present embodiment is arranged at one corner of a room so that the whole room can be used as a monitoring area. The view angle range indicated by W in FIG. 2 is the monitoring area, and θ is the camera 10
The photographing field of view is shown. By panning the camera 10 within the angle of view W of the monitoring area, an object existing in the monitoring area can be detected. For example, the angle of view W is changed to the angle of view θ of the camera 10.
By dividing the area into a plurality of areas and sequentially photographing the inside of the divided area, an object existing in the monitoring area is detected as an image.

【0013】物体検出装置22は、図2に示す部屋内
に、何かの物体、例えば、人間が入ってくると、それを
検知して、マイクロコンピュータ24に検出信号を出力
する。マイクロコンピュータ24は、物体検出装置22
からの検出信号に応答して、対象物の画像認識動作を開
始する。
The object detecting device 22 detects an object, for example, a person, entering the room shown in FIG. 2 and outputs a detection signal to the microcomputer 24. The microcomputer 24 includes the object detection device 22
The image recognition operation of the object is started in response to the detection signal from.

【0014】開始当初は、マイクロコンピュータ24
は、初期方向、通常はその部屋の入口付近にカメラ10
を向けるように駆動回路16を制御する。画像認識回路
18は、カメラ10の出力画像から画像認識技術により
対象物を探索する。画像認識回路18は、対象物の検出
の有無を示す対象物検出信号をマイクロコンピュータ2
4に出力し、対象物を検出した場合には更に、検出した
対象物の、撮影画面内での方位を示す情報をマイクロコ
ンピュータ24に出力する。マイクロコンピュータ24
は、画像認識回路18からの対象物検出信号に応じて、
対象物を検出できていない場合には、駆動回路16を制
御して、カメラ10の撮影方向及び照明装置12の照明
方向を監視領域内で次の方向に移動させる。この一連の
動作は、画像認識回路18が対象物を認識するまで繰り
返される。
Initially, the microcomputer 24
Is located in the initial direction, usually near the entrance to the room.
The drive circuit 16 is controlled so that The image recognition circuit 18 searches for an object from the output image of the camera 10 using an image recognition technique. The image recognition circuit 18 outputs an object detection signal indicating whether or not the object has been detected to the microcomputer 2.
4, and when the target is detected, further outputs information indicating the orientation of the detected target in the shooting screen to the microcomputer 24. Microcomputer 24
Is based on an object detection signal from the image recognition circuit 18,
If the target object has not been detected, the drive circuit 16 is controlled to move the shooting direction of the camera 10 and the illumination direction of the illumination device 12 to the next direction in the monitoring area. This series of operations is repeated until the image recognition circuit 18 recognizes the target.

【0015】画像認識回路18は、対象物を検出した場
合には更に、撮影視野内での対象物の中心位置を算出
し、撮影画角内での方位を示す情報をマイクロコンピュ
ータ24に出力する。マイクロコンピュータ24は、画
像認識回路18から対象物方位情報が入力すると、光軸
方向検出装置20からのカメラ光軸方向情報を参照し
て、監視対象物の、監視領域内における方向を演算し、
メモリ26に記憶する。カメラ10がフォーカスを自動
調節できる場合には、カメラ10と対象物との距離も検
出できる。その場合には、監視対象物の精確な位置を検
出できる。
When the object is detected, the image recognition circuit 18 further calculates the center position of the object within the field of view and outputs information indicating the azimuth within the field of view to the microcomputer 24. . When the target orientation information is input from the image recognition circuit 18, the microcomputer 24 refers to the camera optical axis direction information from the optical axis direction detection device 20 and calculates the direction of the monitoring target in the monitoring area,
It is stored in the memory 26. If the camera 10 can automatically adjust the focus, the distance between the camera 10 and the object can also be detected. In that case, an accurate position of the monitoring target can be detected.

【0016】一旦、対象物を画像認識回路18により認
識できると、以後、マイクロコンピュータ24は、メモ
リ26に記憶される監視対象物の方位情報の履歴を参照
して、監視対象物の存在する確率の最も高い方位を算出
し、その方位をカメラ10の撮影画角に含めるように駆
動回路16を制御し、これにより、駆動回路16は、マ
イクロコンピュータ24で演算された監視対象物の存在
する確率の最も高い方位にカメラ10及び照明装置12
を駆動して一旦、停止させる。この停止位置が、次の対
象物検出動作の開始点となる。
Once the object can be recognized by the image recognition circuit 18, the microcomputer 24 thereafter refers to the history of the azimuth information of the monitored object stored in the memory 26 to determine the probability that the monitored object exists. Is calculated, and the driving circuit 16 is controlled so that the azimuth is included in the angle of view of the camera 10. As a result, the driving circuit 16 calculates the probability of the existence of the monitoring target calculated by the microcomputer 24. Camera 10 and lighting device 12 in the highest direction of
And temporarily stop it. This stop position is the starting point of the next object detection operation.

【0017】監視対象物の監視領域内における方位情報
の履歴から監視対象物の存在する確率の最も高い方位を
算出する方法として、例えば、図3に示すように、監視
対象物の一連の位置#1〜#10を監視領域Wの2次元
座標上にプロットし、カメラ10の画角θを移動させた
時に最も多くの点、この例では#1〜#6を含む撮影方
向を求めればよい。また、直近の複数点から移動先を推
測してもよい。
As a method of calculating the azimuth with the highest probability of the presence of the monitoring target from the history of the azimuth information in the monitoring area of the monitoring target, for example, as shown in FIG. What is necessary is to plot the numbers 1 to # 10 on the two-dimensional coordinates of the monitoring area W and obtain the most photographic points when the angle of view θ of the camera 10 is moved, in this example, the imaging directions including # 1 to # 6. Alternatively, the destination may be estimated from a plurality of nearest points.

【0018】本実施例では、理解を容易にするために、
監視領域を平面的に分割して、水平方向だけ走査する場
合を説明したが、本発明は、監視領域を立体的に分割
し、水平方向と垂直方向に走査する場合にも適用できる
ことは明らかである。
In this embodiment, in order to facilitate understanding,
Although the case where the monitoring area is divided in a plane and scanning is performed only in the horizontal direction has been described, it is apparent that the present invention is also applicable to a case where the monitoring area is divided in a three-dimensional manner and scanning is performed in the horizontal direction and the vertical direction. is there.

【0019】照明装置12の照明素子としてLEDを用
いることにより、照明装置12の前に配置した赤外線透
過フィルタ14を省略できる。
By using an LED as a lighting element of the lighting device 12, the infrared transmission filter 14 disposed in front of the lighting device 12 can be omitted.

【0020】[0020]

【発明の効果】以上の説明から容易に理解できるよう
に、本発明によれば、監視対象物の一連の方位情報から
算出した、監視対象物の存在する確率の最も高い方位
を、検出動作開始方位とするので、短時間に監視対象物
を検出できる。更に、カメラに連動して移動し、カメラ
画界内を照明する照明装置を備えているので、暗い場所
に設置されても十分な精度をもって監視対象物を検出で
きる。
As can be easily understood from the above description, according to the present invention, the azimuth having the highest probability of the existence of the monitored object calculated from a series of azimuth information of the monitored object is started. Since the orientation is set, the monitoring target can be detected in a short time. Furthermore, since an illumination device that moves in conjunction with the camera and illuminates the inside of the camera field is provided, the monitoring target can be detected with sufficient accuracy even when installed in a dark place.

【図面の簡単な説明】[Brief description of the drawings]

【図1】 本発明の一実施例の概略構成ブロック図であ
る。
FIG. 1 is a schematic block diagram of an embodiment of the present invention.

【図2】 本実施例の配置場所の一例の平面図である。FIG. 2 is a plan view of an example of an arrangement place according to the embodiment.

【図3】 監視対象物の検出動作開始点の決定方法の説
明図である。
FIG. 3 is an explanatory diagram of a method of determining a monitoring object detection operation start point.

【符号の説明】[Explanation of symbols]

10:カメラ 12:照明装置 14:赤外線透過フィルタ 16:駆動回路 18:画像認識回路 20:光軸方向検出装置 22:物体検出装置 24:マイクロコンピュータ 26:メモリ 10: Camera 12: Illumination device 14: Infrared transmission filter 16: Drive circuit 18: Image recognition circuit 20: Optical axis direction detection device 22: Object detection device 24: Microcomputer 26: Memory

Claims (2)

【特許請求の範囲】[Claims] 【請求項1】 監視すべき領域内をカバーする範囲内で
撮影方位を変更自在なカメラと、 物体が監視領域内に侵入した事を検出する物体検出手段
と、 当該カメラの光軸方向を検出する光軸方向検出手段と、 当該カメラの撮影画面内における監視対象物の方位を検
出する方位検出手段と、 当該カメラの撮影方位を制御する撮影方位制御手段と、 上記光軸方向検出手段によって検出された光軸方向の情
報と当該方位検出手段によって検出された方位情報とか
ら当該監視対象物の監視領域内における方位を算出する
方位演算手段と、 当該方位演算手段の演算結果を逐次的に記憶する記憶手
段と、 当該記憶手段に記憶される方位情報から、当該監視対象
物が存在する確率の最も高いカメラの光軸方向を算出す
る光軸方向演算手段と、 当該光軸方向演算手段で算出された光軸方向を初期位置
として当該監視対象物の画像認識動作を開始させる制御
手段とを備えることを特徴とする画像認識装置。
1. A camera capable of changing a shooting direction within a range covering an area to be monitored, an object detecting means for detecting that an object has entered the monitoring area, and detecting an optical axis direction of the camera. Optical axis direction detecting means, azimuth detecting means for detecting the azimuth of an object to be monitored in a photographic screen of the camera, photographic azimuth control means for controlling the photographic azimuth of the camera, and detection by the optical axis direction detecting means Azimuth calculating means for calculating the azimuth of the object to be monitored in the monitoring area from the obtained information on the optical axis direction and the azimuth information detected by the azimuth detecting means; and sequentially storing the calculation results of the azimuth calculating means. An optical axis direction calculating means for calculating, from the azimuth information stored in the storage means, the optical axis direction of the camera having the highest probability of the existence of the monitoring target; and the optical axis direction Image recognition apparatus characterized by a control means for starting the image recognition operation of the monitored object in the optical axis direction calculated in calculation means as an initial position.
【請求項2】 更に、当該カメラの撮影方位に連動して
移動し、撮影視野内を照明する照明装置を備える請求項
1に記載の画像認識装置。
2. The image recognition device according to claim 1, further comprising an illumination device that moves in synchronization with the imaging direction of the camera and illuminates the inside of the imaging field of view.
JP10316039A 1998-11-06 1998-11-06 Image recognition device Withdrawn JP2000148972A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP10316039A JP2000148972A (en) 1998-11-06 1998-11-06 Image recognition device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10316039A JP2000148972A (en) 1998-11-06 1998-11-06 Image recognition device

Publications (1)

Publication Number Publication Date
JP2000148972A true JP2000148972A (en) 2000-05-30

Family

ID=18072592

Family Applications (1)

Application Number Title Priority Date Filing Date
JP10316039A Withdrawn JP2000148972A (en) 1998-11-06 1998-11-06 Image recognition device

Country Status (1)

Country Link
JP (1) JP2000148972A (en)

Cited By (5)

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Publication number Priority date Publication date Assignee Title
JP2007072816A (en) * 2005-09-07 2007-03-22 Takenaka Komuten Co Ltd System for supporting layout of article
JP2008224099A (en) * 2007-03-12 2008-09-25 Mitsubishi Electric Corp Air conditioning device
WO2018173260A1 (en) * 2017-03-24 2018-09-27 富士通株式会社 Object detection device, object detection method and program
JP2018182712A (en) * 2017-04-20 2018-11-15 三菱電機株式会社 Monitor system and imaging direction control device
CN111924117A (en) * 2020-08-14 2020-11-13 西安应用光学研究所 Automatic switching method for waveband of built-in optical sensor of photoelectric pod

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007072816A (en) * 2005-09-07 2007-03-22 Takenaka Komuten Co Ltd System for supporting layout of article
JP4666488B2 (en) * 2005-09-07 2011-04-06 株式会社竹中工務店 Article layout support system
JP2008224099A (en) * 2007-03-12 2008-09-25 Mitsubishi Electric Corp Air conditioning device
WO2018173260A1 (en) * 2017-03-24 2018-09-27 富士通株式会社 Object detection device, object detection method and program
JP2018182712A (en) * 2017-04-20 2018-11-15 三菱電機株式会社 Monitor system and imaging direction control device
CN111924117A (en) * 2020-08-14 2020-11-13 西安应用光学研究所 Automatic switching method for waveband of built-in optical sensor of photoelectric pod
CN111924117B (en) * 2020-08-14 2024-04-09 西安应用光学研究所 Automatic switching method for wave bands of optical sensors built in photoelectric nacelle

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