JP2000261705A - Photographing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain photographing in every direction with an economical configuration in a photographing device and to prevent mismatching in a connected part between photographed pictures. SOLUTION: The photographing device is provided with a conical mirror 111 that outputs an incident light from the surrounding as a reflected light, a camera main body 112 that receives the reflected light of the conical mirror and photographs an object, and an image processing section that demodulates a circular omnidirectional photographing picture photographed by the camera main body into a square omnidirectional picture. In this case, a memory 130 of an image processing section stores the omnidirectional photographing picture, a conversion section 12A converts each coordinate of the omnidirectional photographing picture stored in the memory into picture data by relating each coordinate of the omnidirectional photographing picture to a coordinate of each memory element of a memory 140, a demodulation section stores the picture data of each coordinate of the omnidirectional photographing picture in the memory 130 converted by the conversion section to each corresponding memory element of the memory 140 to generate a square omnidirectional photographing picture.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a photographing apparatus for photographing a person, a surrounding landscape, and the like.

[0002]

2. Description of the Related Art Generally, when creating an omnidirectional (360 degree) image, a plurality of videos taken at different angles are connected by software processing. FIG. 13A shows 360
FIG. 13B is a diagram illustrating a state of synthesis of images captured by the camera 200. In FIG. 13B, reference numeral 210 denotes an image captured by the camera 200 at a certain time, and 220 denotes an image captured at the next time. Also, 201
Indicates a tree, and 202 indicates a car.

FIG. 14 shows cameras 251 to 251 having a viewing angle of 120 degrees.
253 are arranged at every 120 degrees, and images taken simultaneously by three cameras 251 to 253 are connected by software processing.

[0004]

Problems to be Solved by the Invention 1 shown in FIG.
When the two cameras 200 are rotated 360 degrees to sequentially capture the surrounding scenery and the like, if the captured image 210 at a certain time and the captured image 220 at the next time are connected, the stationary tree 201 and the like may cause a problem. However, as shown in FIG. 13 (b), a moving object such as an automobile 202, which is moving every moment, has a mismatch between the images at the connection point 230 between the captured images 210 and 220. There's a problem. In addition, since the camera 200 is constantly rotating, there is a disadvantage that the frequency of failure increases.

[0005] Further, in the example of simultaneous photographing by three cameras shown in FIG. 14, there is a problem that the cost is increased and the gain (including aperture and focus) of each camera must be accurately adjusted. . SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an economical photographing apparatus that can photograph in all directions and does not cause a mismatch at a connection portion between photographed images.

[0006]

SUMMARY OF THE INVENTION In order to solve such a problem, a photographing apparatus according to the present invention is an apparatus which can photograph an omnidirectional image by one camera, and reflects incident light from the surroundings to reflected light. A cone-shaped mirror that outputs as an image, a camera unit that captures the reflected light from the mirror, and an image processing unit.The image processing unit converts a circular omnidirectional image captured by the camera unit. It is characterized by demodulating into a rectangular omnidirectional image. In this case, the image processing unit includes: a first memory in which a plurality of memory elements are arranged vertically and horizontally to store a circular omnidirectional captured image; a second memory in which a plurality of memory elements are arranged vertically and horizontally; A conversion unit that converts each coordinate of the captured image in the first memory in association with the coordinates of each memory element in the second memory; and a demodulation unit, wherein the demodulation unit captures the first memory converted by the conversion unit. The image data of each coordinate of the image is stored in the corresponding memory element of the second memory and demodulated as a rectangular omnidirectional image. Further, the circular photographed image photographed by the camera section has a circular photographing invalid area in the center, and an image between the outer peripheral part and the inner peripheral part located on the outer periphery of the photographing invalid area is an effective image. Is stored in the first memory as
When converting the coordinates of the circular omnidirectional captured image stored in the first memory into the coordinates of each memory element of the second memory, the conversion unit centers the center of the captured image of the first memory. The coordinates of the intersection of a plurality of concentric circles sequentially arranged at predetermined intervals in the direction from the inner peripheral portion to the outer peripheral portion and a plurality of line segments sequentially arranged at a predetermined angle in the direction from the central portion to the outer peripheral portion. The demodulation unit calculates the image of the coordinates of the first memory converted by the conversion unit into the memory element of the second memory indicated by the coordinates with the concentric circle as the vertical axis and the line segment as the horizontal axis. This is for storing data.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 12 is a block diagram showing a configuration of a system to which the present invention is applied. In FIG. 12, the system includes a plurality of street installation units 1A, 1B,.
Screen creation center 2, network 3, user terminal 4
A to 4C.

Each of the street installation sections 1A and 1B is provided with an omnidirectional camera 11 and an image processing section 12 comprising a conversion section 12A and a demodulation section 12B for processing images taken by the omnidirectional camera 11. The street installation units 1A and 1B further analyze a temperature sensor 13, a data correction unit 14 for correcting the temperature detected by the temperature sensor 13, a wind direction / wind speed sensor 15, and an output of the wind direction / wind speed sensor 15. A wind direction / wind speed analysis unit 16 and a transmission control unit 17 that transmits each output of the image processing unit 12, the data correction unit 14, and the wind direction / wind speed analysis unit 16 to the screen creation center 2 via the transmission line interface 18 are provided. ing.

[0009] The screen creation center 2 includes street setting units 1A and 1
Interfaces 21A and 21 which are interfaces of B
B, line interfaces 25A and 25B for receiving local information from the information providers 10A and 10B in the stores installed around the street installation units 1A and 1B, storage of the received local information and It is composed of local information collection / analysis units 26A and 26B that store link destinations, a bus 27, a database 28, a transmission line interface 29, and a control unit 30. The interfaces 21A and 21B in the screen creation center 2 each include a transmission line interface 22, a database creation / update unit 23, and a link table 24.

Here, the street setting sections 1A and 1B transmit the surrounding scenery, temperature, wind direction, wind speed and the like where they are set to the screen creation center 2 from time to time, while the street setting sections 1A and 1B respectively. Each of the information providers 10A and 10B in the stores arranged in the vicinity transmits information on its own store and the like to the screen creation center 2 as regional information.
In the screen creation center 2, the transmission information from the street installation unit 1A and the regional information from the information provider 10A are stored in the database 28 in association with each other. Further, the transmission information from the street installation unit 1B and the regional information from the information provider 10B are stored in the database 28 in association with each other. In the screen creation center 2, the user terminals 4A to 4C
And when accessed via the network 3, the scenery and regional information of the place where the corresponding street installation unit 1 is arranged is extracted from the database 28 and transmitted to the user terminal via the transmission path interface 29 and the network 3,
Provide to users.

The omnidirectional camera 11 of the street setting section 1A (the same applies to the omnidirectional camera of the street setting section 1B) comprises a conical mirror 111 and a camera body 112 as shown in FIG. The conical mirror 111 reflects the incident light IN from the surroundings and sends it to the camera body 112 as reflected light OUT. The camera body 112 captures an image by inputting the reflected light OUT from the conical mirror 111.

FIG. 1B shows the camera body 1 in this manner.
FIG. 3 is a diagram illustrating a captured image 120 captured at 12 and stored as each pixel in each memory element of a memory 130 of the image processing unit 12. In FIG. 1B, 121 is an automobile image, 122 is a building image, and 123 is a tree image.
Note that the center of the captured image 120 is an invalid area 124 that is not suitable as an image. Since the camera body 112 captures the image by inputting the reflected light from the conical mirror 111, the captured image 120 becomes a circular image as shown in FIG. 1B, and the image is distorted due to the center portion ( Invalid area 12
It becomes smaller as approaching 4). For this reason, the image processing unit 12 executes the software processing described later in FIG.
The photographed image 120 of (b) is demodulated into a regular image as shown in FIG.

FIG. 2 shows a circular photographed image 120 which is photographed by the camera body 112, quantized by the image processing unit 12, and stored as each pixel in each memory element 131 of the memory 130 in the image processing unit 12. It is a figure showing a storage situation.
Here, the image 120 captured by the camera body and stored in the memory 130 includes the respective memory elements of the memory 130,
When the angle is any one of 90 degrees, 180 degrees, 270 degrees, and 360 degrees, each memory element 131 is used as the maximum number of pixels.
Is stored. The image 120 is stored in the memory 130.
, 45 degrees, 135 degrees, 225 degrees, and 31 degrees
When forming an angle of any of 5 degrees, it is stored in each memory element 131 as the minimum number of pixels.

In the example of FIG. 2, the number of pixels A in the vertical direction is the maximum (number of pixels = 5), and the number of pixels B in the direction forming an angle of 45 degrees with this is the minimum (number of pixels = 4). Further, as shown in FIG. 2, the intersection between the outer periphery of the circular captured image 120 and the line segment in the direction having the maximum number of pixels A, and the intersection between the outer periphery and the line segment in the direction having the minimum number of pixels B Is the outer circular arc 120A
And the intersection of a line segment in the direction having the maximum number of pixels A with the inner periphery of the circular photographed image 120 (that is, the outer periphery of the invalid area 124), and the intersection of a line segment in the direction having the minimum number of pixels B with the inner periphery. Is defined as the inner circumferential arc 120B, the outer circumferential arc 12B
The number of pixels D of 0A becomes the maximum, and the number of pixels C of the inner circumferential arc 120B becomes the minimum.

Therefore, the outer circumferential arc 120 of the photographed image 120
The number of pixels differs between the image near A and the image near the inner arc 120B, and the image is distorted. For this reason, the conversion unit 12A of the image processing unit 12 shown in FIG. 3 determines that the minimum number of pixels B (the number of pixels that make an angle of 45 degrees with the vertical pixels) of the memory 130 is the maximum number of pixels A (the pixels in the vertical direction). (Ie, A = B), and the number of pixels C (minimum number of pixels) of the inner circular arc 120B becomes the number of pixels D (maximum number of pixels) of the outer circular arc 120A. (Ie, so that C = D) to remove image distortion. Further, the demodulation unit 12B of the image processing unit 12 shown in FIG. 3 demodulates as a normal image as shown in FIG. It is stored in each memory element 141 described later.

FIG. 4 is an explanatory diagram showing a specific processing situation by the conversion unit 12A of the image processing unit 12. Conversion unit 12
A performs coordinate transformation of the captured image 120 to remove distortion of the captured image 120 stored in each memory element 131 of the memory 130 in the image processing unit 12. In this case, the conversion unit 12A is arranged between the outer circumference and the inner circumference of the circular captured image 120 for each memory element in the horizontal or vertical direction (may be a predetermined number of memory elements). From the central portion of the captured image 120 (that is, the center point O of the circular invalid area 124) for each one of the memory elements located on the outer periphery of the captured image 120 (or for each of a predetermined number of memory elements). A process of obtaining coordinates of an intersection with each line drawn in the outer peripheral direction of the captured image 120 is performed.

Here, concentric circles drawn in the direction from the inner circumference to the outer circumference of the photographed image 120 are sequentially defined as “0”, “1”, “2”,. And each line segment drawn in the outer peripheral direction of the captured image 120 from the center point O is sequentially set to “0”, “1”,
.., “N”. Further, the distance from the center point O to the inner periphery of the captured image 120 is R, the angle between each line segment is Δθ (that is, a parameter that determines the resolution in the vertical direction), and the interval between concentric circles (that is, the resolution in the horizontal direction is Assuming that the determined parameter is Δr, the coordinates (x, y) of the intersection of the line segment “1” and the concentric circle “0” are x = RcosΔθ and y = RsinΔθ.

The coordinates of the intersection (x, y) of the line segment “1” and the concentric circle “1” are x = (R + Δr) cosΔθ, y = (R + Δr) sin
Δθ, and the coordinates (x, y) of the intersection of the line segment “1” and the concentric circle “n” are x = (R + nΔr) cosΔθ, y = (R + nΔr) s
inΔθ. Furthermore, the coordinates of the intersection (x, y) between the line segment “N” and the concentric circle “n” are x = (R + nΔr) cos (N · Δθ) and y = (R + nΔr) sin (N · Δθ).

As described above, in the conversion unit 12A,
After all the coordinates of the captured image 120 stored in the memory 130 have been obtained, the demodulation unit 12B of the image processing unit 12 uses the captured image 1 based on the coordinates obtained by the conversion unit 12A.
20 is developed into a panorama as shown in FIG. 5 in the memory 140 in the image processing unit 12 and demodulated into a normal image.

Here, each pixel of each memory element 141 of the memory 140 shown in FIG. 5 corresponds to each intersection coordinate obtained by the conversion unit 12A, and the demodulation unit 12B is obtained by the conversion unit 12A. For example, the coordinates (RcosΔθ, RsinΔ) of the intersection of the line segment “1” and the concentric circle “0” in FIG.
θ) is stored in the memory 140 shown in FIG.
= 0 is stored in the memory element at the address indicated by 0. Further, the demodulation unit 12B calculates the intersection coordinates ((R + R) of, for example, the line segment “1” and the concentric circle “1” in FIG.
The image data of (Δr) cosΔθ, (R + Δr) sinΔθ) is stored in the memory element at the address indicated by N = 1, n = 1 in the memory 140 of FIG.

Further, the demodulation unit 12B calculates the intersection coordinates ((R + nΔr) cosΔθ, (R) of, for example, the line segment “1” and the concentric circle “n” in FIG.
The image data of (+ nΔr) sinΔθ) is stored in the memory element of the memory 140 in FIG. Furthermore, the demodulation unit 12B includes a conversion unit 12A
4, the intersection coordinates ((R + nΔr) cos (N · Δ) of the line segment “N” and the concentric circle “n” in FIG.
θ), (R + nΔr) sin (N · Δθ)) is stored in the memory element of the memory 140 of FIG. 5 at the address indicated by N = N, n = n.

Here, n and N are variables, and the demodulation unit 12
B sequentially performs image development processing for n from “0” to “n” for one N, and when the processing is completed, similarly performs image development processing for n for “N” from “0” to “n”. In this manner, the same image development processing is repeatedly executed until N · Δθ becomes 360 °. In this manner, the memory 140 reflects the light reflected by the conical mirror 111 into the camera body 11.
The distorted omnidirectional image 120 taken at 2 is stored as a regular omnidirectional image, and thus the car image 1
The building image 122, the tree image 123, and the tree image 123 are also restored to their normal forms as shown in FIG.

The image photographed by the omnidirectional camera 11 in the street setting section 1A and processed by the image processing section 12 is transmitted to the screen creation center 2 via the transmission path interface 18 by the transmission control section 17 in FIG. Can be Upon input of the image processed by the image processing unit 12, the database creation / update unit 23 in the interface 21A of the screen creation center 2 adds temperature information from the temperature sensor 13 in the street installation unit 1A to this image, and Street section 1A
The wind direction / wind speed information from the inside wind direction / wind speed sensor 15 is added. The database creation / updating unit 23 also links the image processed by the image processing unit 12, the individual image in the image, and the coordinates thereof to a link table 24.
And link coordinate data registered in advance as a pair of data. The control unit 30 of the screen creation center 2 uses the information provider 10 stored in the local information collection and analysis unit 26A.
When the area information from A is input, the area information is linked to the pair of data based on the link destination information stored in the area information collection / analysis unit 26A and stored in the database 28.

The omnidirectional camera 1 in the street installation section 1B
1 and processed by the image processing unit 12 in the same manner by the database creation / updating unit 23 in the interface 21B, and further provided by the information provider 10B of the street installation unit 1B and the local information collection / analysis unit. The information is linked with the regional information stored in 26B and stored in the database 28.

FIG. 6 is a diagram showing a pair of data stored in the database 28 from the database creating / updating unit 23. 6A shows an omnidirectional landscape image 281 processed by the database creation / updating unit 23, and FIG. 6B associates each image region in the landscape image 281 with its coordinates. Link coordinate data 28
FIG. Here, link coordinate data 282
In FIG. 6A, the outline is extracted in advance from each image in the landscape image 281 by a predetermined method, and the area of the outline image is defined as the coordinates of the image of the landscape image 281. For this reason, the storage area of the landscape image 281 in the database 28 and the storage area of the link coordinate data 282 have the same storage capacity, and the image address of the landscape image 281 in the database 28 and the outline image of the link coordinate data 282 are used. Address correspond to each other.

Here, for example, an information screen such as a homepage provided from the information provider 10A to the network 3 in advance and displayed on the user terminal 4A, or a user terminal created based on information provided in advance from the information provider 10A. When the information screen displayed on 4A is accessed by the user, the screen creation center 2
The access information is transmitted to. In this case, the control unit 30 of the screen creation center 2 takes out the relevant image from the database 28 and sends it to the user terminal 4A via the network 3. As a result, the display unit (not shown) of the user terminal 4A displays the momentary photograph of FIG.
A landscape image 281 shown in (a) is displayed.

After that, the store (restaurant or map) which is a partial image displayed on the display unit of the user terminal 4A by the user.
When clicked, the click coordinate information is sent to the image creation center 2. In this case, the control unit 30 of the image creation center 2 determines that the coordinates of the image of the store in the link coordinate data 282 in FIG. 6B have been clicked. Then, the local information stored in the database 28 corresponding to the coordinates of the link coordinate data 282 is extracted and sent to the user terminal 4A.
Is displayed on the display unit.

FIG. 7 is a diagram showing, for example, regional information provided by the information provider 10A and displayed on the user terminal 4A (that is, the contents of the information page provided by the information provider 10A). The area information 291 is the information of the shop (restaurant or Mabiko) displayed when the coordinates of the link coordinate data 282 in FIG. 6B are clicked. The area information 292 and 293 in FIG.
(B) indicates information displayed when the coordinates of the link coordinate data 282 are clicked, and this information is similarly provided from the information provider 10A or the like, and is stored in the database 28 in association with the coordinates. ing.

As described above, each image photographed and processed every moment by the omnidirectional camera 11 and the coordinate data for link indicating the coordinates of each image are used as a pair of data in the database 2.
8 and also stores in the database 28 regional information from the information provider existing within the shooting range of the omnidirectional camera 11 in association with each coordinate of the link coordinate data. When the user accesses the information screen of, for example, a homepage provided and displayed on the user terminal, the corresponding photographed image in the database 28 is sent to the user terminal for display, and the user clicks one image in the displayed photographed image. Then, based on the coordinates of the link coordinate data corresponding to the image, the corresponding area information is retrieved from the database 28 and displayed on the user terminal.

Some user terminals cannot distribute all images of the omnidirectional image 281 in the database 28 and all link coordinate data 282. In such a case, the omnidirectional image 281 of the database 28
The address of each storage area of the link coordinate data 282 is accessed by, for example, a ring counter, and the 360-degree omnidirectional image 281 and the corresponding link coordinate data 282 are sequentially stored in the direction of, for example, 1 to 360 degrees. The image is read out once every time, and when the image located at 360 degrees is read out, it can be read out again in the direction from 1 degree to 360 degrees. Then, when a scroll key (not shown) of the user terminal is operated, the area of the omnidirectional image 281 of the database 28 is accessed via the ring counter, so that the landscape image shown in FIG. In this case, the user sequentially scrolls in the leftward or rightward direction (that is, the direction from 1 degree to 360 degrees or the direction from 360 degrees to 1 degree) so that all the images of the omnidirectional images 281 in the database 28 can be displayed. At this time, the link coordinate data 282 shown in FIG. 6B is also scrolled by simultaneously and simultaneously shifting the area of the link coordinate data 282 in the database 28.

That is, all omnidirectional images 28 are stored in the user terminal.
1 and all the link coordinate data 282 cannot be stored, the control unit 30 of the screen creation center 2 selects one of the omnidirectional images 281 shown in FIG.
First, a predetermined amount of partial omnidirectional image 2 that can be stored in the user terminal 2
FIG. 6 corresponding to 81A and the partial omnidirectional image 281A.
The link coordinate data 282A of (b) is taken out and transmitted to the user terminal for display, and the transmitted address information of the partial omnidirectional image in the database 28 is stored in the built-in memory. Thus, the database 2 is stored in the user terminal.
When the scroll key of the user terminal is operated while the partial omnidirectional image 281A in 8 is displayed, the operation information is sent to the screen creation center 2 via the network 3.

In this case, the control unit 30 of the screen creation center 2
Represents the storage area of the omnidirectional image 281 of the database 28,
Partial omnidirectional image 281 currently displayed on the user terminal
Starting from the address of the central region O of A, as shown in FIG. 6 (a), for example, the image is shifted (scrolled) to the right by a predetermined capacity M and a predetermined amount of partial omnidirectional image including the shift M is stored in the database 28. And sends it to the user terminal via the network 3 for display, and stores the transmitted address information of the partial omnidirectional image in the database 28 in the built-in memory. At this time, the control unit 30 shifts the area of the link coordinate data 282 of the database 28 rightward by the fixed capacity M as shown in FIG. 6B in conjunction with the partial shift of the omnidirectional image 281. Then, a predetermined amount of partial link coordinate data is transmitted together.

In this way, the user terminal can display all of the omnidirectional images 281 in the database 28, and even if the image displayed for the first time by the scroll operation is clicked, the user terminal can display the omnidirectional image 281. Since the corresponding link coordinate data 282 shifted by a certain capacity in conjunction with the azimuth image 281 has been obtained, the control unit 30 of the screen creation center 2 can accurately instruct the link destination.

Although the display section of the user terminal cannot display all the images of the omnidirectional image 281 of the database 28, all the images of the omnidirectional image 281 and the coordinate data for link are stored in a memory (not shown) of the user terminal. If all of 282 can be stored, the following configuration can be adopted. In this case, the address of the memory for storing the omnidirectional image 281 of the user terminal is assumed to be accessed by a ring counter, similarly to the omnidirectional image storage area of the database 28, and each of the omnidirectional image storage areas of the database 28 The address corresponds to each address in the memory of the user terminal.

Based on this premise, the control unit 30 of the user screen creation center 2 first sends the omnidirectional image 281 of the database 28 and the link coordinate data 28 to the user terminal.
Send 2. Then, in the user terminal, these are stored in the memory, and a partial omnidirectional image (for example, the partial omnidirectional image 281A in FIG. 6A) that can be displayed on the screen from an arbitrary start portion is extracted from the memory and displayed on the display unit. On the other hand, the address of the link coordinate data is stored in association with the displayed partial omnidirectional image.

In such a situation, when a scroll operation is performed on the user terminal side, the user terminal shifts the address of its own memory by the fixed capacity M and stores the partial omnidirectional image including the shifted capacity M in the memory. And display it. At this time, the user terminal updates the address of the link coordinate data stored in association with the displayed partial omnidirectional image. As described above, even when all the images in the omnidirectional image 281 cannot be displayed on the display unit of the user terminal, all the images of the omnidirectional image 281 can be displayed on the user terminal side by shifting the memory of the user terminal. As a result, the screen creation center 2 does not need to distribute a partial omnidirectional image every time the user terminal performs a scroll operation, and can use the system efficiently.

FIG. 8 shows a wind direction / wind speed sensor 15 installed near the omnidirectional camera 11 in the street installation section 1 shown in FIG.
It is a figure showing the shape of. This wind direction / wind speed sensor 15
The pressure sensor 15 includes four pressure sensors 15A to 15D. The pressure sensors 15A to 15D are mounted on the outer periphery of the circular mounting portion 150 at every 90 degrees. Thus, the mounting portion 15
As shown in FIG. 9, the pressure sensors 15A to 15D attached at 90 ° intervals are oriented in the directions of north (N), east (E), south (S), and west (W), respectively. When the mounting portion 150 is installed, the wind force F in the northeast direction shown in FIG.
The other pressure sensors 15C and 15D, which are received only by 5A and 15B, respectively, and directed in the south and west directions, do not receive the wind F.

In this case, when the angle between the north (N) direction and the direction of the wind F in the northeast direction is defined as θ (that is, the wind direction θ) with reference to the north (N) direction, the north (N) direction The wind force received by the sensing surface of the pressure sensor 15A facing the direction becomes Fcos θ. Here, assuming that the gains of the pressure sensors 15A to 15D are respectively equal to k, the detection output OUT1 of the pressure sensor 15A is as follows: OUT1 = k · Fcos θ (1) Further, the detection output OUT2 of the pressure sensor 15B facing east (E) is as follows: OUT2 = k · Fsin θ (2)

Here, from the equations (1) and (2), OUT1 / cos θ = OUT2 / sin θ = k · F (3), and from the equation (3), tan θ = OUT2 / OUT1 (4)

From equation (4), the wind direction θ is obtained as θ = tan ⁻¹ OUT2 / OUT1 (5), and the wind direction θ obtained by equation (5) is obtained by modifying equation (1). (6) That is, the wind speed (ie, wind power) F is calculated by substituting into F = OUT1 / k · cos θ (6). Such calculation of the wind speed F is similarly performed for the other pressure sensors (the pressure sensor 15B in this example), and as a result of the calculation, the wind speed F having the largest value is adopted.

FIG. 10 shows a wind direction / wind speed analysis unit 16 for calculating the wind direction and wind speed from each output of each of the pressure sensors 15A to 15D.
And a wind direction / wind speed analyzer 16 converts A / D converters 161 to 164 that convert analog signals output from the pressure sensors 15A to 15D into digital signals.
And a CPU 160 that inputs the digital signals of the A / D converters 161 to 164, performs the above-described calculation, and outputs the information as wind direction and wind speed information. Then, the wind direction and wind speed information calculated by the CPU 160 is sent to the screen creation center 2 via the transmission path interface 18 by the transmission control unit 17 shown in FIG. 12, and is fixedly arranged near the wind direction / wind speed sensor 15. The image is synthesized with the image captured by the omnidirectional camera 11, stored in the database 28 as described above, and provided to the user.

Referring to FIG. 11, wind direction / wind speed analysis unit 16
The calculation of the wind direction / wind speed by the CPU 160 will be described more specifically. As shown in FIG. 11A, the four pressure sensors 15A, 15B, 15C, and 15D are arranged at 90 ° intervals, and the wind speed and direction of the wind are calculated from the detection outputs of the four pressure sensors. Here, each pressure sensor 1
Since 5A, 15B, 15C, and 15D are arranged in a relatively narrow range, the wind to be detected uniformly hits each sensor.

Now, assuming that the wind of the wind F is uniformly hitting the base axis of FIG. 11A (ie, the axis connecting the sensors 15A and 15C) at an angle of 20 degrees, the sensor 15A has It hits at an angle of 20 degrees as shown in (b). In this case, the pressure sensed by the sensor 15A is the horizontal component F · cos20 ゜ = F × 0.939 (7). Here, assuming that F is constant, the pressure sensor 15A
In the above, the value which is the same as the value shown in the equation (7) is obtained only when a wind having an angle of 160 degrees with respect to the base axis is applied.

On the other hand, the pressure sensed by the pressure sensor 15D is F · cos (−70 °) = F × 0.342 (8) as shown in FIG. Here, the pressure sensor 15D has the same value as the value shown in Expression (8) only when the wind having an angle of 110 degrees with respect to the base axis hits. The value of 110 degrees in the pressure sensor 15D does not match the value of 160 degrees of the pressure sensor 15A, and in this case, the output value of the pressure sensor 15A and the pressure sensor 15D
It is possible to calculate the wind direction from the ratio of the output values. In this case, the wind power (wind speed) F of the original wind can be calculated from the magnitude of the output of each of the pressure sensors 15A and 15D.

Each of the pressure sensors 15A to 15D does not produce a detection output even when wind having an angle of 0 or 180 degrees hits its sensing surface. Therefore, as shown in FIG. 11D, for example, the wind power F of the wind hitting the base axis horizontally can not be detected by the pressure sensors 15B to 15D but can be detected by only one pressure sensor 15A arranged perpendicular to the base axis. . At this time, on the sensing surface of the pressure sensor 15C located on the back side of the pressure sensor 15A, the negative pressure due to the wind force F is sensed. However, if a sensor capable of accurately detecting and outputting the negative pressure is used, A highly accurate wind direction / wind speed sensor 15 can be provided.

FIG. 11D shows an example in which the wind is applied perpendicularly to the pressure sensor 15A and the wind is detected only by the pressure sensor 15A. The pressure sensor generates the maximum detection output when the wind hits (degree). Next, the pressure sensor 15A
Consider a case in which an angled wind hits. When the wind strikes the sensing surface of the pressure sensor 15A at an angle as shown in FIG. 11E, the pressure sensor 15B having the sensing surface whose angle is in the range of 0 to 180 degrees generates a detection output. , 0C to 180D, the pressure sensors 15C and 15D having a sensing surface outside the range do not generate a detection output. Therefore, the wind direction / wind force can be measured by one or two pressure sensors. This is the same for all pressure sensors. As a result, wind from all directions of 360 degrees can be measured. That is, four pressure sensors 15
By arranging A to 15D at an angle of 90 degrees, winds from all directions of 360 degrees can be measured. As described above, since the wind direction / wind sensor 15 has no movable parts unlike the conventional sensor, the reliability is improved,
Therefore, no maintenance is required, and it can be installed in an unmanned place for a long time.

In this embodiment, the four pressure sensors 15A to 15D are arranged at an angle of 90 degrees, and the wind direction and wind speed are detected by sensing the wind force on the sensing surfaces of the four pressure sensors 15A to 15D. Although the measurement is performed, it is sufficient that at least four sensors are provided, and five or more sensors may be provided, and the sensors may be arranged at equal angles and measured. In addition, the present sensor is not limited to the measurement of wind force, but can be similarly applied to the measurement of the flow velocity, flow rate, and direction of another fluid, that is, a gas such as a gas, or a liquid such as water.

[0048]

As described above, the present invention provides a conical mirror that outputs incident light from the surroundings as reflected light,
A camera unit that captures omnidirectional images of the surroundings by inputting and reflecting light reflected from a mirror, and an image processing unit. The image processing unit is a circular omnidirectional captured image captured by the camera unit. Is demodulated into a rectangular omnidirectional image, so that one camera can perform omnidirectional imaging, so that the apparatus can be economically constructed and mismatching occurs at a connection portion of each captured image. Problems can be prevented before they occur. The image processing unit includes a first memory in which a plurality of memory elements are arranged vertically and horizontally to store a captured image, a second memory in which a plurality of memory elements are arranged vertically and horizontally, a conversion unit, and a demodulation unit. The conversion unit converts each coordinate of the captured image in the first memory in association with the coordinates of each memory element in the second memory, and the demodulation unit converts the coordinates of the first memory converted by the conversion unit. Since the image data of each coordinate of the image is stored in each memory element of the second memory, the captured image can be easily demodulated into an omnidirectional image without distortion. Further, each coordinate of the captured image stored in the first memory is stored in the second memory.
When converting to the coordinates of each memory element of the memory of the first memory, the conversion unit is centered on the center of the captured image of the first memory,
A plurality of concentric circles sequentially arranged at predetermined intervals in the direction from the inner peripheral portion to the outer peripheral portion, and a coordinate of an intersection of a plurality of line segments sequentially arranged at a predetermined angle in the direction from the central portion to the outer peripheral portion, The demodulation unit stores the image data of the coordinates of the first memory converted by the conversion unit in a memory element of the second memory indicated by coordinates with the concentric circle as the vertical axis and the line segment as the horizontal axis. Since it is stored, it is possible to easily and easily perform the coordinate transformation and generate a rectangular omnidirectional image in the second memory.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a photographing device in a system to which the present invention is applied and a processing status of an image photographed by the photographing device.

FIG. 2 is a diagram illustrating a storage state of an image photographed by the photographing device.

FIG. 3 is a block diagram illustrating a configuration of the photographing device.

FIG. 4 is an explanatory diagram illustrating coordinate conversion of a captured image in an image processing unit included in the imaging device.

FIG. 5 is a diagram showing a situation in which the photographed image is stored in a memory according to converted coordinates.

FIG. 6 is a diagram showing a landscape image processed by an image processing unit and region coordinates of each image constituting the landscape image.

FIG. 7 is a diagram showing regional information provided by an information provider.

FIG. 8 is a diagram showing a shape of a wind direction / wind speed sensor constituting the system.

FIG. 9 shows the wind direction / wind direction based on the detection output of the wind direction / wind speed sensor.
It is a figure explaining the calculation situation of a wind speed.

FIG. 10 is a block diagram illustrating a configuration of a wind direction / wind speed analysis unit that calculates and analyzes the wind direction / wind speed.

FIG. 11 is a diagram illustrating a specific calculation state of wind direction and wind speed.

FIG. 12 is a block diagram showing a configuration of the system.

FIG. 13 is a diagram showing a conventional photographing apparatus and a state of synthesizing an image photographed by the photographing apparatus.

FIG. 14 is a diagram showing a configuration of another conventional photographing apparatus.

[Explanation of symbols]

1A, 1B: Street setting unit, 2: Screen creation center, 3: Network, 4A to 4D: User terminal, 11: Omnidirectional camera, 12: Image processing unit, 12A: Conversion unit, 12B: Demodulation unit, 15: Wind direction -Wind speed sensor, 15A to 15D-Pressure sensor, 16-Wind direction / wind speed analysis unit, 23-Database creation / update unit, 24-Link table, 26A, 26B-
Regional information collection / analysis unit, 28 database, 30 control unit, 111 conical mirror, 112 camera body, 120 captured image, 124 invalid area, 130, 140 memory, 131, 141 memory element, 150 Mounting part, 1
60 CPU, 281 omnidirectional image, 282 link coordinate data, 291 to 29n area information.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04N 7/18 G06F 15/64 450G

Claims (3)

[Claims] 1. A photographing apparatus for photographing a surrounding omnidirectional image, comprising: a cone-shaped mirror that outputs incident light from the surroundings as reflected light; and a camera unit that inputs reflected light from the mirror to photograph. An image processing unit for demodulating a circular omnidirectional captured image captured by the camera unit into a rectangular omnidirectional image. 2. The image processing unit according to claim 1, wherein the first memory stores a plurality of memory elements arranged vertically and horizontally and stores the circular omnidirectional image, and the plurality of memory elements arranged vertically and horizontally. A converted second memory, a conversion unit that converts each coordinate of the omnidirectional captured image in the first memory in association with a coordinate of each memory element in the second memory, And a demodulation unit for storing image data of each coordinate of the omnidirectional photographed image in the first memory in the corresponding memory element of the second memory and demodulating the image data as a rectangular omnidirectional image. apparatus. 3. The circular omnidirectional image captured by the camera unit according to claim 2, wherein the circular omnidirectional image has a circular imaging invalid area at a central portion thereof.
An image between an outer peripheral portion and an inner peripheral portion located on the outer periphery of the photographing invalid area is stored in the first memory as a valid image, and the converting section stores the circular shape stored in the first memory. When converting each coordinate of the omnidirectional photographed image into the coordinates of each memory element of the second memory, the center of the photographed image of the first memory is centered,
Coordinates of intersections between a plurality of concentric circles sequentially arranged at predetermined intervals in the direction from the inner peripheral portion to the outer peripheral portion and a plurality of line segments sequentially arranged at a predetermined angle from the central portion toward the outer peripheral portion And the demodulation unit converts the first constellation converted by the conversion unit into a memory element of the second memory indicated by coordinates with the concentric circle as a vertical axis and the line segment as a horizontal axis. An image capturing apparatus for storing image data of coordinates of a memory of (1).