JP2003319262A - Image pickup camera apparatus and image data reading method for imager - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a high spatial resolution compatible with a high-speed real- time property in an image pickup camera apparatus configured to present a feature amount of an image. <P>SOLUTION: In the image pickup camera apparatus equipped with a camera head 11, the camera head 11 is provided with an imager 21 for scanning a partial area of an image pickup area in a prescribed pixel size in accordance with designated position information and outputting image data in the relevant partial area and a computing element 22 for receiving the image data in the partial area outputted from the imager 21 and operating the image feature amount and a coordinate transformation parameter for the next frame based upon the image data and a designated coordinate transformation parameter. Besides, the camera head 11 is equipped with a coordinate transforming circuit 23 for designating a pixel position to be scanned by the imager 21 based upon the coordinate transformation parameter for the next frame operated by the computing element 22 and the image data in the partial area. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a two-dimensional imaging sensor having a pixel area of a predetermined size for imaging and capable of random access to this pixel area. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an imaging camera device and a method for reading image data of an imager that achieves both high resolution and high-speed real-time property.

[0002]

2. Description of the Related Art Conventionally, image pickup cameras have been used in various fields in various fields. With the spread of such use, the demands for the imaging camera are gradually increasing. One of them is the compatibility of high spatial resolution and high-speed real-time performance.

In order to observe an imaged object more finely, it is essential to increase the spatial resolution. The high spatial resolution can improve the recognition ability of the imaging target, while widening the simultaneous measurement range. Also, by obtaining a high real-time property, it is possible to recognize an object that moves at high speed, and to provide an agile response. A general vision system normally captures images at a rate of 30 frames per second as found in the television standard (NTSC). With this frame rate, for example, 300 km / h
The Shinkansen railway that runs at about 2.7m travels between frames, and the serve tennis ball flying at 200km / h travels about 2.7m between frames. For this reason, in the case of an imaging target that advances at high speed, the real-time property is insufficient, and necessary information is often lost.

High spatial resolution and high-speed real-time property are contradictory to each other, and a structure in which either one is suppressed to a certain degree and the function of the other is enhanced is often used.

Under these circumstances, one of the recent imaging cameras equipped with a CMOS image sensor as a solid-state image sensor has been widely used. This imaging camera is described, for example, in the paper “A. Krymsk i.
DVBlerkon, A.Anderson, et.al., “A high-speed 500fr
ame / s 1024 × 1024 CMOS image sensor ”Dig. Tech. Pa
Pers Symp.on VLSI Circuits, No.14-3, June 1999 ".

Such an imaging camera is generally a CMOS
A sensor including the pixel circuit formed in 1. and a signal processing device that transfers the pixel signal read by the sensor and performs necessary processing are provided. Accordingly, it is expected that an imaging camera having a relatively high spatial resolution and a high real-time property can be provided while taking advantage of the characteristics of the CMOS image sensor.

[0007]

However, in the case of the conventional image pickup camera, if the compatibility of the high spatial resolution and the high-speed real-time property is pursued to a certain extent as described above,
There is a limit in two points, that is, the communication capability when the image signal is transmitted from the sensor to the signal processing device and the processing capability of the signal processing device itself. For example, using a pixel circuit of 1 million pixels, a frame rate of 1000 frames per second (that is, 1
000 FPS (Frame Per Second) only requires a data transfer rate of 1 GByte / sec for the pixel signal communication capability from the sensor to the image processing apparatus, and the image processing apparatus similarly needs 1 GByte / s.
A data processing capacity of ec or more is required. It must be said that these requirements are almost difficult to realize even with the current technical level. This situation is becoming more serious as the pixel area of the sensor tends to become wider.

The present invention overcomes the difficult situation relating to the compatibility of high spatial resolution and high-speed real-time characteristics of the conventional image pickup camera described above. The pixel signal output from the image sensor is processed by the signal processing device. In an imaging camera device configured to visualize an image, particularly a feature amount of the image (for example, movement information of a moving object), a high spatial resolution and a high-speed real-time property can be achieved within the range of communication capability from the image sensor to the signal processing device. It is an object of the present invention to provide an image pickup camera device that achieves both of the above.

[0009]

According to the present invention, a pixel signal output from an image sensor is processed by a signal processing device to obtain a feature amount of an image (for example, movement information of a moving object (position of the center of gravity of the object)). Focusing on the fact that it is often not necessary to transfer all the image signals collected by each pixel of the image sensor to a signal processing device (signal processing means) for processing in an imaging camera device configured to visualize It was done. In other words, the present invention is based on the verification result of the present inventor that the signal processing device needs to transmit and process only the pixel information necessary for calculating the feature amount of the image. ing.

The image pickup camera device according to the present invention is specifically configured as follows.

According to one aspect of the image pickup camera device of the present invention, the image pickup device has a pixel area of a predetermined size, and the pixel area is scanned pixel by pixel according to the pixel position information to obtain an image of a partial area of the pixel area. An imager that outputs data and image data of the partial area output from the imager are received, and an image feature amount and a coordinate conversion parameter for the next frame are set based on the image data and a specified coordinate conversion parameter. A calculation means for calculating each frame, and a specification means for specifying a pixel position for scanning by the imager based on the coordinate conversion parameter for the next frame calculated by the calculation means and the image data of the partial area are provided. , Is characterized.

Preferably, the arithmetic means calculates the image feature amount by performing coordinate conversion processing on the image data by the designated coordinate conversion parameter, and outputs the image feature amount as an image signal. It has a quantity calculation means. In this case, further, the calculation means calculates coordinates of the coordinate conversion parameter for causing the target exhibiting the image feature amount to track the partial area based on the image data and the specified coordinate conversion parameter. It is desirable to have a conversion parameter calculation means. For example, the coordinate conversion parameter calculation means is configured to calculate the coordinate conversion parameter that can be observed while the object is fixed in the field of view.

As an example, the coordinate transformation process is an affine transformation.

As another preferable example, the imager may be a complementary metal oxide semiconductor (CMOS) that exhibits the pixel region.
tal oxide semiconductor).

According to another aspect of the image pickup camera device of the present invention, it has a pixel area of a predetermined size and scans this pixel area for each pixel according to the pixel position designation information. An imager capable of outputting image data of a partial area, and feedback control means for electronically feedback-controlling the pixel position of scanning of the partial area with respect to the next frame from image data of each frame of the partial area output from the imager. It is characterized by having.

According to still another aspect of the image pickup camera device of the present invention, the image pickup camera device is provided with a camera head, wherein the camera head has a pixel area of a predetermined size, and the pixel area has a predetermined size. An imager capable of outputting the image data of the partial area of the pixel area by scanning for each pixel according to the pixel position designation information, and receiving the image data of the partial area output from the imager, And a coordinate conversion parameter for the next frame calculated for each frame on the basis of the specified coordinate conversion parameter and the coordinate conversion parameter for the next frame, and the coordinate conversion parameter for the next frame calculated by the calculator and the partial area. And a coordinate conversion circuit that specifies a pixel position for scanning by the imager based on the image data of To.

On the other hand, in the image data reading method of the imager according to the present invention, a pixel area of a predetermined size of the imager is scanned pixel by pixel according to the pixel designated position information, and the image data of the partial area of the pixel area is output. An image data reading method, the step of receiving the image data of the partial area output from the imager, and the coordinate conversion parameter for the next frame for each frame based on the image data and the specified coordinate conversion parameter. And a step of designating a pixel position for scanning by the imager based on the coordinate conversion parameter for the next frame and the image data of the partial area. In this case, the step of calculating may include a process of performing a coordinate conversion process on the image data with the specified coordinate conversion parameter to calculate the image feature amount and outputting the image feature amount as an image signal. desirable.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of an image pickup camera device according to the present invention will be described below with reference to FIGS.

FIG. 1 shows a schematic configuration of the image pickup camera device according to this embodiment. As shown in the figure, the imaging camera device 1 includes a camera head 11 having a configuration according to the features of the present invention, and a post-processor 12, A that is sequentially connected to a signal output terminal of the camera head 11. A / D converter 13 and a monitor 14 are provided.

The camera head 11 further includes an imager 21 for converting an incident optical signal into an electric signal and outputting it as image data, and an arithmetic unit 22 for subjecting the image data output from the imager 21 to predetermined arithmetic processing. A coordinate conversion circuit 23 that gives scan coordinate values to the imager 21.

Of these, the imager 21 is a CMOS (co
An image sensor IM having a pixel area of a predetermined matrix size (for example, 1024 × 1024 pixels) formed of complementary metal oxide semiconductor) is provided, and a partial area (for example, a pixel area) corresponding to a designated pixel position is selected from the pixel area. (64 × 64 pixels) only, and pixel signals (image data) are output from the pixels in this partial area.
Is configured to be read. That is, the imager 21 has a function of random scanning for selectively scanning only pixels at arbitrary positions, and using this function, it is possible to perform so-called area scanning for scanning only arbitrary partial areas. It is like this. The image coordinate value for this area scan is given from the coordinate conversion circuit 23.

Therefore, each time the coordinate coordinate circuit 23 designates an image coordinate value, the imager 21 accesses the pixel corresponding to the designated coordinate position to read out and output a pixel signal. This read signal is transmitted to the arithmetic unit 22 via the bus B having a sufficient band. This allows
As shown in FIG. 2, a partial region “m × n pixels” of the entire pixel region “M × N pixels” included in the imaging sensor IM of the imager 21 is cut out, and the image data of the partial region is calculated by the calculator 22. It is stored in the built-in memory of. However, m <M and n <N.

As a result, the image data output from the imager = I (X _k (x), Y _k (x), and the image data stored in the internal memory of the arithmetic unit 22 for each frame = I '.
If (x, y),

[Equation 1] become. Here, X and Y indicate rows and columns for the pixel region of M × N pixels, while x and y indicate rows and columns of the partial region of m × n pixels. k indicates that it is pixel data of the kth frame.

The computing unit 22 includes an interface 22A,
In addition to the writing / reading circuit 22B and the above-mentioned built-in memory 22C, a CPU (central processing unit) 22D that performs a predetermined calculation using the pixel data read from this memory 22C, and a desired calculation function for this CPU 22D ROM 22E storing a program to be given, and RAM 2 for the CPU to temporarily store data as work memory
It has 2F.

A program for driving the CPU 22D is set in the computing unit 22 by software processing of the CPU 22D so as to compute the image feature amount and the coordinate conversion parameter as described below.

Image data of one frame (m × n pixels) transmitted from the imager 21 = I '(x,
y) and based on the coordinate conversion parameter = ρ _k , the image feature amount ζ _k is calculated. That is,

## EQU2 ## ζ _k = G (I '(x, y), ρ _k ) ... (2) Here, G is an appropriate function for calculating the image feature amount.

The image feature amount is, as in the above equation (2),
It means a physical quantity obtained by performing a desired calculation on an image, and is, for example, the center of gravity position or area of an imaged object.

Further, the arithmetic unit 22 calculates the next based on the image data of one frame (m × n pixels) = I ′ (x, y) transmitted from the imager 21 and the coordinate conversion parameter = ρ _k. calculating a new coordinate transformation parameter [rho _{k + 1} of frame k + 1. That is,

[Equation 3] Is. Here, H is a new coordinate conversion parameter ρ
It is an appropriate function for calculating _{k + 1} .

In this embodiment, the affine transformation is used as the coordinate transformation, and the affine transformation parameter is used as the coordinate transformation parameter ρ. In addition to this, polar coordinate conversion or projective conversion can be used as the coordinate conversion.

When the two-dimensional affine transformation is used as the coordinate transformation method, the general determinant is that the affine transformation parameters a to f, the coordinate value (X, Y) of the pixel area of the imaging sensor IM and its partial area. Coordinate value (x,
y), as is well known,

[Equation 4] It is represented by. With this, the two-dimensional image can be enlarged / reduced, rotated, translated, and sheared.

Of the above-mentioned physical quantities calculated by the calculator 22, the image feature quantity ζ _k is sent to the post-processor 12 and subjected to desired post-processing. The image data processed after this is A
It is sent to the monitor 14 via the / D converter 13 and displayed. On the other hand, the coordinate conversion parameter ρ _{k + 1} is sent to the coordinate conversion circuit 23.

Further, the coordinate conversion circuit 23 includes a calculator 22.
From, based on the following frame k + coordinate transformation parameter [rho _{k + 1} for 1 sent, desired pixel or is required to read the pixels belonging to the partial area, the pixel area of the imager 21 (M × N pixels of the imager 21 ), The pixel position (X _k (x), Y _k (x)) is calculated. If this is quantitatively expressed using an appropriate function F,

[Equation 5] Is. It should be noted that the coordinate conversion circuit 13 includes image coordinate values x, y (x
, 1, 2, ..., M; y = 1, 2, ..., N) is given automatically by a predetermined algorithm or arbitrarily by an operator each time.

Next, the operation and effect of the image pickup camera device according to this embodiment will be described.

Now, the image conversion circuit 23 is operated by the arithmetic unit 22.
Using the coordinate transformation parameters (affine transformation parameters in this embodiment) and the image data of the partial area sent from the image coordinate values (X _k (x),
Y _k (x)) is calculated and given to the imager 21 every predetermined period. As a result, the partial region (m that is to be cut out from the M × N pixel region of the k-th frame) (m
Each pixel position (X _k (x), Y _k (x)) of (× n pixels) is sequentially given from the coordinate conversion circuit 23 to the imager 21.

The imager 21 reads the pixel signal of each pixel at the designated pixel position (X _k (x), Y _k (x)) as image data I (X, Y) for each pixel, and this image data I (X, Y) is transmitted to the arithmetic unit 22 via the bus B. As a result, the image data I ′ (x, y) to be processed is stored in the computing unit 22. Since this storage is repeated for all pixels of the partial area related to the area scan, the image data I ′ of the partial area of the k-th frame
(X, y) is obtained.

The image data I '(x,
When y) has been completed, the computing unit 22 uses, as described above,
The image feature amount ζ _k and a new coordinate conversion parameter ρ _{k + 1} of the _{k +} 1th frame are calculated. Of these, the image feature amount ζ _k is sent to the monitor 14 via the post-processor 12 and the A / D converter 13, and is displayed as an image of the partial region (m × n pixels).

On the other hand, the new coordinate conversion parameter ρ _{k + 1} of the _{k +} 1th frame is sent to the coordinate conversion circuit 23. In response to this, the coordinate conversion circuit 23 causes the partial area (m × n
Image coordinate value (pixel position) within (pixel) (X _k (x), Y _k
(X)) is calculated, and this image coordinate value is designated to the imager 21. Therefore, the imager 21 reads out and outputs a pixel signal of a pixel in a specified pixel position in the pixel region (M × N pixels), for example, in a partial region (m × n pixels) by the random access function. This pixel signal is
The image data of the next (k + 1) th frame is transmitted to the arithmetic unit 22 via the bus B.

Similarly, the image conversion for the partial area, the designation of the pixel position, and the reading of the pixel signal of the partial area by random access are sequentially performed for each frame.

As described above, based on the k-th frame image data of the partial area and the coordinate conversion parameter obtained and stored in the previous frame stored at that time, the next k
The + 1st frame coordinate conversion parameter is calculated by the calculator 22. Depending on the k + 1th coordinate conversion parameter, the imager 2
A pixel position in a partial area included in one pixel area is designated, and a pixel signal at the pixel position is read out for each pixel.

That is, the arithmetic unit 22 and the coordinate conversion circuit 23
With the function of, based on the random access function for the partial area included in the pixel area of the imager 21,
Electronic feedback control for reading pixel signals is applied.

Unlike the mechanical feedback control in which the actuator is mechanically moved, this electronic feedback control has an advantage that the response speed is very fast and the controllable degree of freedom is large.

Further, during the execution of this electronic feedback control, the image feature amount which has been subjected to the processing of two-dimensional enlargement / reduction, rotation, translational movement, and / or shear deformation by affine transformation for each frame. Is calculated and displayed.
Therefore, as schematically illustrated in FIG. 4, by using such an affine transformation, the image is displayed in a state where the field of view of the imaging target in the partial region is fixed. For example, as shown in (a) of the figure, when the object is located at a biased position, it is moved to the center position of the visual field and displayed by translational movement during affine transformation. Similarly, as shown in (b) to (d) of the figure, translational movement, enlargement / reduction, rotation, and / or
Shearing is appropriately performed to display the object to be imaged at the center position of the visual field.

Thus, for example, when an object such as a tennis ball flying at high speed and a high-speed running Shinkansen is imaged, the moving component of the pixel position in the image is calculated as the image feature amount. It Then, the moving object is electronically and automatically tracked and displayed. That is, the position (for example, the position of the center of gravity) on the image of the next (k + 1) th frame of the object moving at high speed is predicted, and the partial area centered on this predicted position is scanned by the random access function. Therefore, the tennis ball flying at a high speed can always be displayed at the center position on the monitor image and in the same posture. Also, the wheels of the Shinkansen running at high speed can be fixed and displayed at all times.

Of course, as a function given to the affine transformation,
By selecting the affine transformation parameters a to f, it is possible to give only an arbitrary function of the translational movement, the enlargement / reduction, the rotation, and the shear deformation described above. As a result, for example, the size of the tennis ball is always displayed in a constant manner and in the center of the field of view, but the rotational movement of the tennis ball itself is displayed as it is, and the rotational state of the ball accompanying high-speed movement is also studied. It will be possible. The calculation executed by the calculator 22 in the case of performing such tracking is (1) 0 of the image I ′ (x, y) of the partial region
The second and first moments are obtained, the center of gravity of the image I ′ (x, y) is calculated from this moment information, and (2) the translational movement component is obtained from the coordinate values of the center of gravity, and this translational movement component is the center of the image. (3) Partial region image I ′
Enlargement / reduction is performed so that the area of the 0th-order moment information occupying the entire (x, y) is, for example, the same. (4) The affine transformation parameter is generated during the processes of (1) to (3) described above. An algorithm for outputting this parameter to the coordinate conversion circuit 23 can be exemplified.

In addition, in this embodiment, a CMOS sensor is used as the imaging sensor IM of the imager 21, but the CMOS sensor itself can read pixel signals at a higher speed than other imaging sensors. Therefore, even in the case of capturing an image of an object that moves at high speed, the distance moved on the captured image is reduced by the high-speed readout of pixel signals. Therefore, tracking is
It will be easier.

By thus controlling the readout of the pixel signals, for example, 1024 × 1 of the imaging sensor
64 × 6 from a pixel area with a large number of pixels such as 024 pixels
It is possible to cut out an image of a partial area of 4 pixels within 1 ms, for example. As a result, the field of view is narrowed down to a required partial area and is small, but as the spatial resolution, the value in the original high-density pixel area can be taken over. That is, the spatial resolution is high and the object recognition ability is also high.

On the other hand, the pixel signal of the cut out partial area can be transmitted to the calculator 22 with an allowable communication capability, for example, 4 MHz or more. Even with the same communication capability, since the data amount is narrowed down to the data of only the necessary part which is the partial area, the communication speed per frame becomes high and the real-time property of image pickup is greatly improved.

As described above, it is sufficient to transmit only the pixel information necessary for calculating the image feature amount from the imaging sensor to the signal processing calculator for processing.
An imaging system based on the verification result by the present inventor can be realized. As a result, in the imaging camera device that processes the pixel signal output from the image sensor by the signal processing device to visualize the image, particularly the feature amount of the image (for example, barycentric information or area information of a moving object), the signal from the image sensor It is possible to provide an imaging camera device that achieves both high spatial resolution and high-speed real-time property within the range of communication capability to the processing device.

The image pickup camera device and the camera head of the present invention are the image pickup camera used in a manufacturing process in a factory using a robot, the image pickup camera for multimedia, the image pickup camera for medical equipment, and the image pickup camera used in microelectronics engineering. It has extremely high applicability in various fields requiring imaging, such as imaging cameras used in intelligent traffic related systems such as ITS.

The image pickup camera device of the present invention is not limited to the above-mentioned embodiment, and the structure related to the well-known technique is applied to the structure described in the claims and further modified appropriately. It is feasible and modifications thereof are also included in the configuration of the present invention.

For example, in the case of the above-described embodiment, the camera head 11 is configured to include the arithmetic unit 22 and the coordinate conversion circuit 23 in addition to the imager 21, but the invention is not necessarily limited to this configuration. As another configuration example, the camera head 11 may be configured with the imager 21 as a main part, and the functions of the computing unit 22 and the coordinate conversion circuit 23 described above may be performed by means provided outside the camera head 11. For example, it is possible to connect the camera head 11 to a computer and execute the calculation of the image feature amount and the coordinate conversion parameter and the coordinate conversion by the software processing of the computer. Further, the dedicated LSI for affine conversion described above may be provided.

[0052]

As described above, according to the present invention,
Regarding an imaging camera device configured to display a pixel signal output from an image sensor by an arithmetic unit (arithmetic means) and display an image, particularly an image characteristic amount, the imager sensor calculates the image characteristic amount to the arithmetic unit. In view of the configuration based on the inventor's verification that it is sufficient to transmit and process only the pixel information necessary for performing the high spatial resolution within the range of the communication capability from the image sensor to the signal processing device. It is possible to provide an imaging camera device that achieves both high speed and real time performance.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an image pickup camera device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating a state in which a partial area is cut out from a pixel area of an imaging sensor of an imaging camera device and the pixel signal is read out.

FIG. 3 is a schematic configuration diagram showing an example of a computing unit mounted on the imaging camera device.

FIG. 4 is a diagram illustrating an operation example of electronic feedback control regarding fixation of a visual field of an image of a partial region, which is executed by a camera head of an imaging camera device.

[Explanation of symbols]

11 camera head 21 imager (having an imaging sensor) 22 computing unit (functions as computing means, image feature amount computing means, and coordinate conversion parameter computing means) 23 coordinate conversion circuit (functions as designating means) 22C memory 22D CPU IM imaging sensor

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tomohiko Nagase             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Kenji Tajima             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Hiroshi Nagai             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon F term (reference) 5B047 AA13 AB02 BB04 CA14 CB09                       CB11 CB21 DB01 DC09 DC20                 5C022 AA14 AC69                 5C024 AX19 CX39 CY43 GY31 JX08

Claims (10)

[Claims] 1. An imager which has a pixel area of a predetermined size, scans this pixel area for each pixel according to pixel position information, and outputs image data of a partial area of the pixel area, and an imager which outputs the image data. Calculating means for receiving the image data of the partial area and calculating the image feature amount and the coordinate conversion parameter for the next frame for each frame based on the image data and the designated coordinate conversion parameter; An image pickup camera apparatus comprising: a specifying unit that specifies a pixel position for scanning by the imager based on the coordinate conversion parameter for the next frame calculated by the above and the image data of the partial area. 2. The image pickup camera device according to claim 1, wherein the calculation means performs coordinate conversion processing on the image data by the designated coordinate conversion parameter to calculate the image feature amount, and the image feature amount. An image pickup camera device, comprising: an image characteristic amount calculation means for outputting the amount as an image signal. 3. The image pickup camera device according to claim 2, wherein the calculation unit traces the partial region to an object exhibiting the image feature amount based on the image data and the designated coordinate conversion parameter. An image pickup camera device, comprising: coordinate conversion parameter calculation means for calculating the coordinate conversion parameter for performing the conversion. 4. The image pickup camera device according to claim 3, wherein the coordinate conversion parameter calculation means is configured to calculate the observable coordinate conversion parameter with the object fixed within a field of view. And an imaging camera device. 5. The image pickup camera device according to claim 1, wherein the coordinate conversion process is an affine transformation. 6. The imaging camera device according to claim 1, wherein the imager has a CMOS (co) that presents the pixel region.
An imaging camera device having an imaging sensor formed of a complementary metal oxide semiconductor). 7. An imager having a pixel area of a predetermined size and capable of outputting the image data of a partial area of the pixel area by scanning the pixel area for each pixel according to the pixel position designation information, and the imager. An image pickup camera device, comprising: feedback control means for electronically feedback-controlling a pixel position of a scan of the partial region for a next frame from the outputted image data of each frame of the partial region. 8. An imaging camera device having a camera head, wherein the camera head has a pixel area of a predetermined size, and the pixel area is scanned pixel by pixel according to pixel position designation information. An imager capable of outputting image data of a partial area of the area, receiving the image data of the partial area output from the imager, and based on the image data and the specified coordinate conversion parameter An arithmetic unit that calculates the coordinate conversion parameters for each frame, and a pixel position for scanning by the imager based on the coordinate conversion parameters for the next frame calculated by this arithmetic unit and the image data of the partial area An image pickup camera device, comprising: 9. An imager image data reading method for scanning a pixel area of a predetermined size of an imager for each pixel according to pixel designation position information and outputting image data of a partial area of the pixel area, wherein the imager outputs the image data. Receiving image data of the partial area that has been generated, calculating a coordinate conversion parameter for the next frame for each frame based on the image data and a specified coordinate conversion parameter, and coordinates for the next frame. A step of designating a pixel position for scanning by the imager on the basis of a conversion parameter and image data of the partial area. 10. The imager image data reading method according to claim 9, wherein the step of calculating calculates the image feature amount by performing coordinate conversion processing on the image data with the specified coordinate conversion parameter. An imager image data reading method including a process of outputting the image feature amount as an image signal.