JP2004040514A

JP2004040514A - Automatic tracking/imaging device and method

Info

Publication number: JP2004040514A
Application number: JP2002195329A
Authority: JP
Inventors: Sukesato Hatakeyama; 畠山　祐里; Takao Tsuda; 津田　貴生; Shinichi Yoshimura; 吉村　信一
Original assignee: Nippon Hoso Kyokai NHK; Japan Broadcasting Corp
Current assignee: Japan Broadcasting Corp
Priority date: 2002-07-04
Filing date: 2002-07-04
Publication date: 2004-02-05

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic tracking/imaging device and an automatic tracking/imaging method for easily and accurately imaging an object from a traveling object. <P>SOLUTION: This automatic tracking/imaging device 1 is provided with an object capturing part 3 for capturing the object with a camera 2 and an automatic tracking part 4 for maintaining the object within an imaging frame 2a. The object capturing part 3 is provided with a signal transmitting part 31 for transmitting a pulse signal, a signal receiving part 32 for receiving its reflected signal, a receiving strength measuring part 33 for measuring the strength of the reflected signal, a direction specifying part 35 for specifying the direction of the objected on the basis of the measurement results of the receiving strength measuring part 33 and supplying the specified direction as a drive signal to a pan and tilt driving part 21, a propagation time measuring part 34 for measuring the propagation time of the received signal, and a distance specifying part 36 for specifying the distance to the object on the basis of the measurement results of the propagation time at the measuring part 34 and supplying the specified distance as a drive signal to a focus driving part 22 of the camera 2. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明が属する技術分野】
本発明は、被写体を追尾して撮像する撮像技術に関し、特に、移動体から被写体を撮像するときに、その被写体を自動追尾して撮像する自動追尾撮像装置及び自動追尾撮像方法に関する。
【従来の技術】
【０００２】
従来、バイクやヘリコプタ等の移動体からカメラ等の撮像装置で被写体を撮影する場合には、例えば、移動体の操縦者は撮影者が被写体を撮影しやすい場所に位置するよう移動体を移動させ、一方、カメラの撮影者は被写体を撮影するためにカメラのアングルを調整する等、移動体の操縦者とカメラの撮影者との２人がうまく連携しながら被写体を撮影する必要があった。
【０００３】
このように、従来の撮像装置では、２人の作業者が必要となるだけでなく、２人の作業者間での意思の疎通の程度が、画像の出来栄えに影響を与え、良好な画像を得るのが容易ではなかった。このため、自動追尾型のカメラを移動体に搭載し、この自動追尾型のカメラで目的の被写体を自動追尾して撮像することが望まれている。
【０００４】
従来の自動追尾型のカメラとしては、被写体にＬＥＤ等の発光体を取り付け、互いに所定間隔離間して設置された２台のセンサカメラでの撮像画像のステレオ画像処理により、ＬＥＤ等の発光体の色を検出して、被写体の位置及び方向を特定し、被写体の自動追尾を行うものが挙げられる。しかし、このカメラでは、２台のセンサカメラを離間させて設置する必要があることから装置が大掛かりになり、移動体に搭載して使用することができなかった。
【０００５】
【発明が解決しようとする課題】
本発明は、以上のような問題点に鑑みてなされたものであり、移動体からの被写体の撮像を容易かつ正確に行える自動追尾撮像装置及び自動追尾撮像方法を提供することを目的とする。
【０００６】
【課題を解決するための手段】
本発明は、前記目的を達成するために創案されたものであり、まず、請求項１に記載の自動追尾撮像装置は、撮像手段のパン・チルト駆動部及びフォーカス駆動部の駆動制御により、目的の被写体を自動追尾して撮影する自動追尾撮像装置であって、撮像手段で目的の被写体を捕捉する被写体捕捉手段と、この被写体捕捉手段によって捕捉した前記被写体を、撮像手段による撮像画像中に維持する自動追尾手段と、を備える構成とした。
【０００７】
かかる構成によれば、自動追尾撮像装置は、被写体捕捉手段によって、例えば、画像認識によって、撮像手段で目的の被写体を認識し捕捉する。また、自動追尾手段によって、被写体捕捉手段により捕捉した前記被写体を、撮像手段の撮像画像中の中央に配置するように撮像手段のパン・チルト駆動部及びフォーカス駆動部を駆動する。
【０００８】
また、請求項２に記載の自動追尾撮像装置は、請求項１に記載の自動追尾撮像装置において、被写体捕捉手段が、パルス信号を送出する信号送出手段と、パルス信号が被写体で反射した反射信号を受信する信号受信手段と、この信号受信手段で受信した反射信号の強度を測定する受信強度測定手段と、この受信強度測定手段で測定した測定結果に基づいて、被写体の位置する方向を特定し、その特定した方向を駆動信号として撮像手段のパン・チルト駆動部に供給する方向特定手段と、パルス信号及び反射信号の伝播時間を測定する伝播時間測定手段と、この伝播時間測定手段で測定した測定結果に基づいて、撮像手段から被写体までの距離を特定し、その特定した距離を駆動信号として撮像手段のフォーカス駆動部に供給する距離特定手段と、を備える構成とした。
【０００９】
かかる構成によれば、自動追尾撮像装置は、信号送出手段によって、超音波や電波等のパルス信号を送出し、信号受信手段によって、パルス信号が被写体で反射した反射信号を受信し、受信強度測定手段によって、信号受信手段で受信した反射信号の強度を測定する。そして、方向特定手段によって、受信強度測定手段で測定した測定結果に基づいて、その強度が強い方向を被写体の位置する方向として特定し、その方向を駆動信号として撮像手段のパン・チルト駆動部を駆動する。これによって、自動追尾撮像装置は、被写体の位置する方向を特定し、例えば被写体を撮像画像中の中央に常に配置することが可能になる。
【００１０】
また、自動追尾撮像装置は、伝播時間測定手段によって、パルス信号を送出してからそのパルス信号が被写体に反射して反射信号として返ってくるまでの伝播時間を測定する。そして、距離特定手段によって、伝播時間測定手段で測定した測定結果により、例えばパルス信号の速度と伝播時間とに基づいて、被写体までの距離を特定し、その距離を駆動信号として撮像手段のフォーカス駆動部を駆動する。これによって、自動追尾撮像装置は、被写体との距離を特定することが可能になり、常に被写体にフォーカスを合わせることが可能になる。
【００１１】
また、請求項３に記載の自動追尾撮像装置は、請求項１に記載の自動追尾撮像装置において、被写体捕捉手段が、被写体側から送信されるパルス信号を受信する信号受信手段と、この信号受信手段で受信したパルス信号の強度を測定する受信強度測定手段と、この受信強度測定手段で測定した測定結果に基づいて、被写体の位置する方向を特定し、その特定した方向を駆動信号として撮像手段のパン・チルト駆動部に供給する方向特定手段と、パルス信号の受信電力を測定する受信電力測定手段と、この受信電力測定手段で測定した測定結果に基づいて、撮像手段から被写体までの距離を特定し、その特定した距離を駆動信号として撮像手段のフォーカス駆動部に供給する距離特定手段と、を備える構成とした。
【００１２】
かかる構成によれば、自動追尾撮像装置は、信号受信手段によって、被写体側から送信されるパルス信号、例えば電波等を受信し、受信強度測定手段によって、信号受信手段で受信したパルス信号の強度、例えば電波の電界強度を測定する。そして、方向特定手段によって、受信強度測定手段で測定した測定結果に基づいて、その強度が強い方向を被写体の位置する方向として特定し、その方向を駆動信号として撮像手段のパン・チルト駆動部を駆動する。
【００１３】
また、自動追尾撮像装置は、受信電力測定手段によって、パルス信号の受信電力を測定する。そして、距離特定手段によって、受信電力測定手段で測定した測定結果に基づいて、撮像手段から被写体までの距離を特定し、その距離を駆動信号として撮像手段のフォーカス駆動部を駆動する。
【００１４】
さらに、請求項４に記載の自動追尾撮像装置は、請求項１乃至請求項３のいずれか１項に記載の自動追尾撮像装置において、自動追尾手段が、被写体の少なくとも一部分の色彩の特微量を示す色情報と、被写体の全体のサイズに対する一部分のサイズの関係を示す画角情報とを記憶する記憶手段と、この記憶手段に記憶された色情報を参照して、撮像手段による撮像画像中における被写体の位置を検出する被写体位置検出手段と、記憶手段に記憶された画角情報を参照して、被写体が撮像画像中の所定位置に所定範囲を占めて表されるよう画角を定める画角決定手段と、この画角決定手段で定めた画角に基づいて、撮像手段のフォーカス駆動部及びパン・チルト駆動部の駆動を制御する制御手段と、を備える構成とした。
【００１５】
かかる構成によれば、自動追尾撮像装置は、被写体位置検出手段によって、記憶手段に記憶された被写体の少なくとも一部分の色彩の特微量を示す色情報を参照して、撮像手段による撮像画像中における被写体の位置を検出する。そして、撮像画像中に被写体が含まれている場合は、画角決定手段によって、記憶手段に記憶された被写体の全体のサイズに対する一部分のサイズの関係を示す画角情報を参照して、被写体が撮像画像中の所定位置に所定範囲を占めて表されるよう画角を定める。そして、制御手段によって、画角決定手段で定めた画角に基づいて、撮像手段のパン・チルト駆動部及びフォーカス駆動部を駆動する。これによって、自動追尾撮像装置は、被写体を正確に認識することが可能になり、自動追尾の確度を高めることができる。
【００１６】
また、請求項５に記載の自動追尾撮像方法は、撮像手段のパン・チルト駆動部及びフォーカス駆動部の駆動制御により、目的の被写体を自動追尾して撮像する自動追尾撮像方法であって、撮像手段で目的の被写体を捕捉する被写体捕捉ステップと、この被写体捕捉ステップによって捕捉した被写体を、撮像手段による撮像画像中に維持する自動追尾ステップと、を含んでいることを特徴とする。
【００１７】
かかる方法によれば、自動追尾撮像方法は、被写体捕捉ステップによって、例えば、画像認識によって、撮像手段で目的の被写体を認識し捕捉する。また、自動追尾ステップによって、被写体捕捉手段により捕捉した前記被写体を、撮像手段の撮像画像中の中央に配置するように撮像手段のパン・チルト駆動部及びフォーカス駆動部を駆動する。
【００１８】
さらに、請求項６に記載の自動追尾撮像方法は、請求項５に記載の自動追尾撮像方法において、被写体捕捉ステップが、パルス信号を送出する信号送出ステップと、パルス信号が被写体で反射した反射信号を受信する信号受信ステップと、この信号受信ステップで受信した反射信号の強度を測定する受信強度測定ステップと、この受信強度測定ステップで測定した測定結果に基づいて、被写体の位置する方向を特定し、その特定した方向を駆動信号として撮像手段のパン・チルト駆動部に供給する方向特定ステップと、パルス信号及び反射信号の伝播時間を測定する伝播時間測定ステップと、この伝播時間測定ステップで測定した測定結果に基づいて、撮像手段から被写体までの距離を特定し、その特定した距離を駆動信号として撮像手段のフォーカス駆動部に供給する距離特定ステップと、を含んでいることを特徴とする。
【００１９】
かかる方法によれば、自動追尾撮像方法は、信号送出ステップによって、超音波や電波等のパルス信号を送出し、信号受信ステップによって、パルス信号が被写体で反射した反射信号を受信し、受信強度測定ステップによって、信号受信ステップで受信した反射信号の強度を測定する。そして、方向特定ステップによって、受信強度測定ステップで測定した測定結果に基づいて、その強度が強い方向を被写体の位置する方向として特定し、その方向を駆動信号として撮像手段のパン・チルト駆動部を駆動する。これによって、自動追尾撮像方法は、被写体の位置する方向を特定し、例えば被写体を撮像画像中の中央に常に配置することが可能になる。
【００２０】
また、自動追尾撮像方法は、伝播時間測定ステップによって、パルス信号を送出してからそのパルス信号が被写体に反射して反射信号として返ってくるまでの伝播時間を測定する。そして、距離特定ステップによって、伝播時間測定ステップで測定した測定結果に基づいて、例えばパルス信号の速度と伝播時間とに基づいて、被写体までの距離を特定し、その距離を駆動信号として撮像手段のフォーカス駆動部を駆動する。これによって、自動追尾撮像方法は、被写体との距離を特定することが可能になり、常に被写体にフォーカスを合わせることが可能になる。
【００２１】
また、請求項７に記載の自動追尾撮像方法は、請求項５に記載の自動追尾撮像方法において、被写体捕捉ステップが、被写体側から送信されるパルス信号を受信する信号受信ステップと、この信号受信ステップで受信したパルス信号の強度を測定する受信強度測定ステップと、この受信強度測定ステップで測定した測定結果に基づいて、被写体の位置する方向を特定し、その特定した方向を駆動信号として撮像手段のパン・チルト駆動部に供給する方向特定ステップと、パルス信号の受信電力を測定する受信電力測定ステップと、この受信電力測定ステップで測定した測定結果に基づいて、撮像手段から前記被写体までの距離を特定し、その特定した距離を駆動信号として撮像手段のフォーカス駆動部に供給する距離特定ステップと、を含んでいることを特徴とする。
【００２２】
かかる方法によれば、自動追尾撮像方法は、信号受信ステップによって、被写体側から送信されるパルス信号、例えば電波等を受信し、受信強度測定ステップによって、信号受信ステップで受信したパルス信号の強度、例えば電波の電界強度を測定する。そして、方向特定ステップによって、受信強度測定ステップで測定した測定結果に基づいて、その強度が強い方向を被写体の位置する方向として特定し、その方向を駆動信号として撮像手段のパン・チルト駆動部を駆動する。
【００２３】
また、自動追尾撮像方法は、受信電力測定ステップによって、電波の受信電力を測定する。そして、距離特定ステップによって、受信電力測定ステップで測定した測定結果に基づいて、撮像手段から被写体までの距離を特定し、その距離を駆動信号として撮像手段のフォーカス駆動部を駆動する。
【００２４】
さらにまた、請求項８に記載の自動追尾撮像方法は、請求項５乃至請求項７のいずれか１項に記載の自動追尾撮像方法において、自動追尾ステップが、予め記憶された被写体の少なくとも一部分の色彩の特微量を示す色情報を参照して、撮像手段による撮像画像中における被写体の位置を検出する被写体位置検出ステップと、予め記憶された被写体の全体のサイズに対する一部分のサイズの関係を示す画角情報を参照して、目的の被写体が撮像画像中の所定位置に所定範囲を占めて表されるよう画角を定める画角決定ステップと、この画角決定ステップで定めた画角に基づいて、撮像手段のパン・チルト駆動部及びフォーカス駆動部の駆動を制御する制御ステップと、を含んでいることを特徴とする。
【００２５】
かかる方法によれば、自動追尾撮像方法は、被写体位置検出ステップによって、記憶手段に記憶された被写体の少なくとも一部分の色彩の特微量を示す色情報を参照して、撮像手段による撮像画像中における被写体の位置を検出する。そして、撮像画像中に被写体が含まれている場合は、画角決定ステップによって、記憶手段に記憶された被写体の全体のサイズに対する一部分のサイズの関係を示す画角情報を参照して、被写体が撮像画像中の所定位置に所定範囲を占めて表されるよう画角を定める。そして、制御ステップによって、画角決定ステップで定めた画角に基づいて、撮像手段のパン・チルト駆動部及びフォーカス駆動部の駆動を駆動する。これによって、自動追尾撮像方法は、被写体を正確に認識することが可能になり、自動追尾の確度を高めることができる。
【００２６】
【発明の実施の形態】
以下、本発明の実施の形態について図面を参照して説明する。
（自動追尾撮像装置の構成：第一の実施の形態）
図１は第一の実施の形態に係る自動追尾撮像装置１の構成を示したブロック図である。自動追尾撮像装置１は、カメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２の駆動を制御することにより、目的の被写体をカメラ２の撮像フレーム２Ａ内に維持し、自動追尾して撮像するものである。
【００２７】
この自動追尾撮像装置１は、図１に示すように、カメラ２の撮像フレーム２Ａで目的の被写体を捕捉する被写体捕捉部３と、前記被写体捕捉部３により撮像フレーム２Ａで捉えた目的の被写体をカメラ２の撮像画像中に維持する自動追尾部４とを備える構成とした。
【００２８】
なお、カメラ２は、画角を設定するためのパン、チルトを変更するパン・チルト駆動部２１と、フォーカスを変更するフォーカス駆動部２２とを備え、カメラ２で撮影した撮像画像は出力部２３を介して外部に出力される。
【００２９】
被写体捕捉部（被写体捕捉手段）３は、パルス信号を送出する信号送出部３１と、パルス信号の反射信号を受信する信号受信部３２と、信号受信部３２での受信信号の強度を測定する受信強度測定部３３と、信号受信部３２での受信信号の伝播時間を測定する伝播時間測定部３４と、被写体の位置する方向を特定してカメラ２のパン・チルト駆動部２１の駆動を制御する方向特定部３５と、被写体までの距離を特定してカメラ２のフォーカス駆動部２２の駆動を制御する距離特定部３６と、を備える。
【００３０】
信号送出部（信号送出手段）３１は、例えば、電気信号である送信パルスを、パルス信号接触子により超音波や電波等のパルス信号に変換して、所定の時間間隔で周期的に外部に送出するものである。
【００３１】
信号受信部（信号受信手段）３２は、信号送出部３１で送出したパルス信号が物標に反射してきた反射信号を連続的に受信するものである。さらに、この信号受信部３２は、受信信号を復調・増幅して、必要に応じて振幅補正や波形スムージングや雑音除去処理等を行うものである。
【００３２】
受信強度測定部（受信強度測定手段）３３は、信号受信部３２での受信信号の強度（受信強度）を、撮像画像上に特定のサンプリング位置を設定し、そのサンプリング位置と受信信号の強度との関係を示す受信信号強度データを生成するものである。
【００３３】
伝播時間測定部（伝播時間測定手段）３４は、信号受信部３２での受信信号について、信号送出部３１からの送信時刻と信号受信部３２での受信時刻との時間差から、信号送出部３１での送出から信号受信部３２での受信までの伝播時間を測定するものである。
【００３４】
方向特定部（方向特定手段）３５は、受信強度測定部３３で測定した受信強度に基づき被写体の位置する方向を特定し、その特定した方向に基づいて、カメラ２のパン・チルト駆動部２１に駆動信号を供給するものである。この方向特定部３５は、受信強度測定部３３で生成した受信信号強度データを参照して、受信信号強度データ中の信号強度のピーク値に対応したサンプリング位置を被写体が位置する方向として特定する。
【００３５】
距離特定部（距離特定手段）３６は、伝播時間測定部３４で測定した伝播時間に基づいてカメラ２から目的の被写体までの距離を算出し、その算出結果に基づいて、カメラ２のフォーカス駆動部２２に駆動信号を供給するものである。
【００３６】
このように構成した被写体捕捉部３は、信号送出部３１からパルス信号を送出し、そのパルス信号を信号受信部３２で受信する。そして、受信強度測定部３３が信号受信部３２で受信した受信信号の強度を測定し、その測定結果に基づいて方向特定部３５で被写体の位置する方向を特定し、その特定した方向に基づいて、カメラ２のパン・チルト駆動部２１に駆動信号を供給する。そして、カメラ２のパン・チルト駆動部２１は、この駆動信号に基づいてパン及びチルトの調整を行い、カメラ２の撮像フレーム２Ａを方向特定部３５で特定した方向に向ける。
【００３７】
一方、伝播時間測定部３４は、信号送出部３１から送信されたパルス信号が、反射信号として信号受信部３２で受信されるまでの伝播時間を測定する。そして、その測定結果に基づいて距離特定部３６で被写体までの距離を特定し、その特定した距離に基づいて、カメラ２のフォーカス駆動部２２に駆動信号を供給する。そして、カメラ２のフォーカス駆動部２２は、この駆動信号に基づいてフォーカス調整を行い、カメラ２の焦点を目的の被写体に合わせる。
【００３８】
自動追尾部（自動追尾手段）４は、撮像画像を画像処理することにより、目的の被写体の一部分を被写体特定領域として検出し、被写体を自動追尾するものである。例えば、被写体の頭部を被写体特定領域として検出し、その領域を常に撮像画像内に保持するものである。この自動追尾部４は、目的の被写体に関する情報を記憶する記憶部４１と、撮像画像中における被写体の位置を検出する被写体位置検出部４２と、目的の被写体がカメラ２の撮像画像中の所定位置に所定範囲を占めて表されるよう画角を決定する画角決定部４３と、カメラ２の撮像画像中での目的の被写体の移動に応じてカメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２の駆動を制御する制御部４４と、を備える。
【００３９】
記憶部（記憶手段）４１は、被写体を特定する被写体特定領域の色の特微量である色彩の配色の態様を示す色情報と、被写体全体に占める被写体特定領域の割合を示す画角情報とを記憶するものである。例えば、被写体がマラソン選手の場合、マラソン選手の頭部を被写体特定領域として、マラソン選手の頭部の色彩である顔の色と髪の色との配色の態様を色情報として、また、マラソン選手の身体全体のサイズに対する頭部のサイズを画角情報として、それぞれ記憶部４１に記憶しておく。
【００４０】
被写体位置検出部（被写体位置検出手段）４２は、輪郭抽出部４２ａと、色抽出部４２ｂとを備え、撮像画像中の色彩の配色と記憶部４１に記憶した色情報とを比較して、撮像画像中における被写体の被写体特定領域の位置を検出するものである。
【００４１】
輪郭抽出部４２ａは、カメラ２から入力される撮像画像から、その画像内の物体のエッジを検出し輪郭情報として抽出するものである。この輪郭抽出部４２ａにおける輪郭抽出は、公知の技術を用いて実現することが可能である。例えば、撮像画像を差分演算することで輝度の差を算出し、その輝度差が大きく変化する箇所をエッジとして検出し、その検出した位置情報を輪郭情報とする。
【００４２】
色抽出部４２ｂは、撮像画像中の色彩の配色と記憶部４１に記憶した色情報とを比較して、撮像画像中の被写体を特定する被写体特定領域を認識するものである。この色抽出部４２ｂで認識した被写体特定領域の情報（撮影画像内における被写体特定領域の位置、大きさ等）は、画角決定部４３へ出力される。
【００４３】
なお、この色抽出部４２ｂにおける色抽出による被写体の被写体特定領域の認識は、公知の技術を用いて実現することが可能である。例えば、記憶部４１に記憶した色情報が、顔の色（以下Ａ色という）と髪の色（以下Ｂ色という）とから構成される頭部の色彩の配色である場合、撮像画像からその頭部を被写体特定領域として抽出するには、色抽出部４２ｂは、輪郭抽出部４２ａで抽出した輪郭情報に基づいて、輪郭によって区分された領域毎に複数のＡ色及びＢ色の領域を抽出する。そして、撮像画像中のＡ色の領域を含んだある領域画像を拡大し、その拡大画像の中にＢ色の領域が含まれているとき、そのＢ色の領域はＡ色に隣接する領域であると判定し、そのＡ色及びＢ色の領域を被写体特定領域として認識する。
【００４４】
これ以外にも、色情報に基づいた被写体の被写体特定領域の認識は種々存在し、例えば、本願出願人において「自動撮影カメラシステムにおける被写体の認識方法（特開平９−３２２１７８公報）」として開示されている技術を用いて実現することができる。
【００４５】
画角決定部（画角決定手段）４３は、記憶部４１に記憶されている画角情報と、距離特定部３６で算出されるカメラ２から被写体までの距離とに基づいて、被写体位置検出部４２で検出された被写体の被写体特定領域が、撮像画像中の所定位置に所定範囲を占めて表されるよう画角を定めるものである。例えば、図２（ａ）に示すように、撮像画像に被写体の一部分しか含まれていない場合、画角決定部４３は、記憶部４１に記憶された画角情報に含まれる撮像画像中の被写体特定領域（例えば頭部）の長さＬ１及び幅Ｗ１と、被写体全体の長さＬ２及び幅Ｗ２との関係を考慮して、図２（ｂ）に示すように、被写体全体が、撮像画像中の所定位置に所定範囲を占めて表されるよう画角を算出する。
【００４６】
この画角は、図３に示すように、被写体特定領域である顔の長さをＬ１（ｍ）、被写体全体の長さ（身長）をＬ２（ｍ）、カメラ２から被写体までの距離をＤ（ｍ）、画角情報である撮像画像の画面の高さを１として正規化した顔のサイズをｒとしたとき、カメラ２の画角（垂直画角）θ（°）は下記の（１）式で算出することができる。
【００４７】
θ＝２ｔａｎ^−１（Ｌ１／（２ｒＤ））　　　…（１）式
【００４８】
制御部（制御手段）４４は、画角決定部４３で定めた画角に基づき、目的の被写体を撮像画像の中央に配置するようにパン・チルト駆動部２１及びフォーカス駆動部２２を制御するものである。この制御部４４は、図４に示すように、撮像画像内の被写体特定領域Ｍを含んだ矩形領域Ｒの重心Ｇの座標を算出し、その重心Ｇの座標を始点とし、撮像画像の中心Ｃの座標を終点とするベクトルを求め、このベクトルの方向とスカラ量とに基づき、撮像フレーム２Ａの回転角度を算出する。そして、その算出結果に基づいて、被写体特定領域が撮像画像中の所定位置に所定の画角で表示されるよう、カメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２に駆動信号を供給する。
【００４９】
（自動追尾撮像装置１の動作）
次に、自動追尾撮像装置１により目的の被写体を自動追尾して撮像する際の動作を、図５のフローチャートを参照して説明する。
自動追尾撮像装置１は、まず、信号送出部３１でパルス信号を送出し（ステップＳ１）、パルス信号が物標に反射してきた反射信号を信号受信部３２で受信する（ステップＳ２）。そして、受信強度測定部３３が、信号受信部３２での受信信号の強度を測定して（ステップＳ３）受信強度測定データを生成し、この受信強度測定データに基づいて、方向特定部３５が被写体の位置する方向を特定し（ステップＳ４）、算出結果に基づいた駆動信号をカメラ２のパン・チルト駆動部２１に供給する。この駆動信号によりカメラ２のパン・チルト駆動部２１がパン及びチルトを調整し、被写体の位置する方向に撮像フレーム２Ａを向ける（ステップＳ５）。
【００５０】
一方、伝播時間測定部３４は、パルス信号を信号送出部３１で送出してから、信号受信部３２でそのパルス信号に対する反射信号を受信するまでの伝播時間を測定し（ステップＳ６）、その測定した伝播時間に基づいて距離特定部３６が被写体までの距離を算出し（ステップＳ７）、その算出結果に基づいた駆動信号をカメラ２のフォーカス駆動部２２に供給する。この駆動信号によりカメラ２のフォーカス駆動部２２がフォーカスを調整し、目的の被写体に焦点を合わせる（ステップＳ８）。これにより、被写体が撮像フレーム２Ａ内に捉えられる。
【００５１】
このようにして撮像フレームに捉えられた被写体について、被写体位置検出部４２が、記憶部４１に記憶された色情報と撮像画像中の色彩の配色とを比較して、撮像画像中の被写体の被写体特定領域を検出する（ステップＳ９）。そして、撮像画像中に被写体特定領域が含まれているかどうかを判定する（ステップＳ１０）。
【００５２】
そして、撮像画像中に被写体特定領域が含まれている場合（ステップＳ１０でＹｅｓ）は、画角決定部４３が記憶部４１に記憶されている画角情報と、距離特定部３６で算出した被写体までの距離とに基づいて、カメラ２の画角（垂直画角）を算出する（ステップＳ１１）。
【００５３】
そして、制御部４４が、撮像画像中の所定位置に被写体特定領域が所定範囲を占めて表されるようにカメラの回転角度を算出し（ステップＳ１２）、ステップＳ１１で算出された垂直画角と、ステップＳ１２で算出された回転角度とに基づいて、カメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２の駆動を制御する（ステップＳ１３）。以上、ステップＳ１からステップＳ１３までの動作を繰り返すことで、被写体が撮像画像中の所定位置に所定範囲を占めて表されるよう撮像される。
【００５４】
一方、被写体位置検出部４２が撮像画像中に目的の被写体の被写体特定領域が表されていないと判断した場合（ステップＳ１０でＮｏ）は、ステップＳ１からステップＳ１０までの処理を繰り返す。このような操作を繰り返すことにより、目的の被写体が撮像画像中に所定の位置及び大きさを保って撮像される。
【００５５】
（自動追尾撮像装置１の動作例）
次に、図６に示すように、自動追尾撮像装置１を移動体であるバイクＡ１に取り付け、移動するバイクＡ１上からマラソン選手Ｂ１を被写体として自動追尾する際の自動追尾撮像装置１の動作を説明する。
まず、自動追尾撮像装置１は、信号送出部３１でパルス信号を送出し、その反射信号を信号受信部３２で受信する。受信強度測定部３３がこの受信信号の強度を測定し、測定結果に基づき方向特定部３５がマラソン選手Ｂ１の位置する方向を特定してカメラ２のパン・チルト駆動部２１によりパン及びチルトを調整し、マラソン選手Ｂ１の位置する方向に撮像フレーム２Ａを向ける。
【００５６】
一方、伝播時間測定部３４は、信号受信部３２での受信信号の信号送出部３１からの伝播時間を測定し、この測定結果に基づいて距離特定部３６がマラソン選手までの距離を算出してカメラ２のフォーカス駆動部２２によりフォーカス調整し、目的のマラソン選手Ｂ１に焦点を合わせ、被写体をカメラ２に捉える。
【００５７】
次いで、被写体位置検出部４２が、記憶部４１に記憶された色情報を参照して撮像画像中に目的のマラソン選手Ｂ１の頭部（被写体特定領域）が含まれているか否かを判断し、含まれていると判断した場合は、画角決定部４３が記憶部４１に記憶された画角情報に基づいて画角を定める。制御部４４は、マラソン選手Ｂ１の頭部（被写体特定領域）を含む矩形領域が撮像画像中の所定位置に所定範囲を占めて表されるようカメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２の駆動を制御して、カメラ２の撮像画像中に被写体特定領域の画像を維持する。これにより、被写体であるマラソン選手Ｂ１が撮像画像中の所定位置に所定範囲を占めて表されるよう撮像される。このような操作を繰り返すことにより、目的の被写体であるマラソン選手Ｂ１が撮像画像中に所定の画角を保って撮像される。
【００５８】
このように、自動追尾撮像装置１によれば、信号受信部３２での受信信号の強度に基づいて被写体の位置する方向を特定し、信号受信部３２での受信信号の伝播時間に基づいて被写体までの距離を特定するという簡単な構成で、被写体を撮像フレーム２Ａに自動的に捉えて撮像できるため、移動体上に載置して、移動体上から目的の被写体を自動追尾することができる。また、この自動追尾撮像装置１は、被写体捕捉部３で捕捉された被写体が、撮像画像中の所定位置に所定範囲を占めて表されるよう、自動追尾部４で被写体を撮像フレーム２Ａ内に維持することにより、自動追尾して撮像し続けることができるため、移動体上に載置して移動体上からの被写体の撮像を容易かつ正確に行える。
【００５９】
前記実施の形態では、単独で走っているマラソン選手Ｂ１をカメラ２の撮像フレーム２Ａで捉え、自動追尾して撮像する場合について説明した。しかし、本発明の自動追尾撮像装置１は、複数のマラソン選手Ｂ１が集団で走っている場合にも、この集団を撮像フレーム２Ａで捉え、自動追尾することができる。
この場合、受信強度測定部３３が生成した受信信号強度データ中の信号強度が周囲に比べて高い位置が所定の広がりをもって存在する場合には、方向特定部３５において、その被写体が集団であると判断する。
【００６０】
そして、被写体位置検出部４２が、方向特定部３５での判断を踏まえて、被写体の頭部である被写体特定領域を複数検出し、画角決定部４３が、その複数の被写体特定領域を含んだ領域を複数のマラソン選手全体の被写体特定領域として、マラソン選手全体を撮像画像中の所定位置に所定範囲を占めて表されるよう画角を算出する。
そして、制御部４４が、マラソン選手全体の被写体特定領域を含んだ矩形領域の重心が撮像画像の中心に位置するように画角を変更する。これにより、被写体である集団をカメラ２の撮像フレーム２Ａで捉えて自動追尾することができる。
【００６１】
記憶部４１に記憶される色情報は、同じ被写体でも撮像方向により撮像画像中での配色の態様が異なってくるため、これを考慮して色情報を、様々な角度から見た被写体の色彩の配色の態様のものとすることにより、撮像画像中に目的の被写体が含まれるか否かの判断をより正確に行うことができる。例えば、撮影方向がマラソン選手の右側の場合、撮像画像中の頭部の右側が肌の色となり左側が髪の色となる。
【００６２】
これに対して、撮影方向がマラソン選手の左側の場合、撮像画像中の頭部の左側が肌の色となり右側が髪の色となる。また、撮影方向がマラソン選手の前側及び後側の場合には、頭部の上側が髪の色となり下側が肌の色となる。この場合、撮影方向が前側の場合には、髪の色の面積に対して肌の色の面積が大きくなり、撮影方向が後側の場合には、肌の色の面積に対して髪の色の面積が大きくなる。そこで、記憶部４１には、これらの場合についての配色の態様を色彩情報としてテーブル等に登録するようにしてもよい。また、画角情報も、撮影方向に応じて正確な判断ができるよう、人間の身長に対する頭部の長さや、肩幅に対する頭部の幅や、胸部の厚みに対する頭部の厚み等の情報をテーブル等に登録するようにしてもよい。
【００６３】
（自動追尾撮像装置の構成：第二の実施の形態）
図７は第二の実施の形態に係る自動追尾撮像装置１Ｂの構成を示したブロック図である。自動追尾撮像装置１Ｂは、被写体から送出される電波を入力しその電波の電界強度及び受信電力に基づいて被写体の距離と位置とを特定し、カメラ２のパン・チルト駆動部２１及びフォーカス駆動部２２の駆動を制御することにより、目的の被写体をカメラ２の撮像フレーム２Ａ内に維持し、自動追尾して撮像するものである。
【００６４】
この自動追尾撮像装置１Ｂは、自動追尾撮像装置１（図１）の被写体捕捉部３から、信号送出部３１を削除し、信号受信部３２を電波受信部３２Ｂに、受信強度測定部３３を受信電界測定部３３Ｂに、伝播時間測定部３４を受信電力測定部３４Ｂにそれぞれ替えて被写体捕捉部３Ｂとして構成した。電波受信部３２Ｂ、受信電界測定部３３Ｂ及び受信電力測定部３４Ｂ以外の構成は、図１の自動追尾撮像装置１の構成と同一の符号を付し、説明は省略する。
【００６５】
電波受信部（信号受信手段）３２Ｂは、被写体の電波送信部（図示せず）から発せられる電波を受信するものである。この電波受信部３２Ｂは、電波を受信して、復調を行うものである。ここで受信した信号は、それぞれ受信電界測定部３３Ｂ及び受信電力測定部３４Ｂへ出力される。
【００６６】
受信電界測定部（受信強度測定手段）３３Ｂは、電波受信部３２Ｂで受信した電波の電界強度を測定するものである。この受信電界測定部３３Ｂで測定された電界強度に基づいて、方向特定部３５が、電界強度が最大になる方向を特定し、パン・チルト駆動部２１を駆動させる。
【００６７】
受信電力測定部（受信電力測定手段）３４Ｂは、電界強度が最大となる最大受信電界ポイントにおいて、自動追尾撮像装置１Ｂから被写体までの距離を算出するものである。例えば、電波の受信入力電界計算式Ｅに基づいて距離ｄを算出するには、下記の（２）式を用いることができる。
【００６８】
Ｅ＝Ｐ＋Ｇ＋Ｒ＋Ｌ　　　…（２）式
【００６９】
ここで、Ｐ：送出出力、Ｇ：送信パラボラゲイン、Ｒ：受信パラボラゲイン、Ｌ：自由空間損失を表す。また、Ｌは（３）式で表すことができる。
【００７０】
Ｌ＝２０ｌｏｇ（４πｄ／λ）＝１２２＋２０ｌｏｇ｛ｄ（ｋｍ）｝−２０ｌｏｇ｛λ（ｃｍ）｝　　　…（３）式
【００７１】
ここで、ｄ＝距離（ｋｍ）、λ＝波長（ｃｍ）＝（３×１０^８）／ｆ（ｃｍ）このような構成によれば、例えば、図８に示すように、ヘリコプタＡ２に搭載された自動追尾撮像装置１Ｂから被写体である地上の陸上競技場Ｂ２を撮像する場合、電波送出装置Ｃ１から送出される電波に基づいて、被写体を撮像フレーム内に捉え、自動追尾することができる。なお、この場合、記憶部４１には目的の被写体である陸上競技場Ｂ２の色彩の配色として、例えば芝生やトラックの色である緑色と茶色とを色情報として記憶するものとする。
【００７２】
【発明の効果】
以上説明したとおり、本発明に係る自動追尾撮像装置及び自動追尾撮像方法では、以下に示す優れた効果を奏する。
請求項１又は請求項５に記載の発明によれば、目的の被写体を捕捉した後に、その被写体を撮像画像中に維持するため、被写体の動きに連動し、あるいはカメラが移動する場合でもそのカメラのパン、チルト、フォーカスを駆動することで被写体を自動追尾することができる。
【００７３】
請求項２又は請求項６に記載の発明によれば、受信したパルス信号の強度に基づいて被写体の位置する方向を特定し、受信信号の伝播時間に基づいて被写体までの距離を特定するため、自動追尾撮像装置の構成を簡略化しつつ撮像手段に対して移動する被写体を撮像フレームに自動的に捉えて撮影でき、移動体上からの被写体の撮像を容易かつ正確に行える。
【００７４】
請求項３又は請求項７に記載の発明によれば、受信した電波の強度に基づいて被写体の位置する方向を特定し、受信電力に基づいて被写体までの距離を特定するため、自動追尾撮像装置の構成を簡略化しつつ撮像手段に対して移動する被写体を撮像フレームに自動的に捉えて撮像でき、移動体上からの被写体の撮像を容易かつ正確に行える。
【００７５】
請求項４又は請求項８に記載の発明によれば、撮像画像中に含まれている被写体の少なくとも一部分が撮像画像中に撮像画像中の所定位置に所定範囲を占めて表されるよう被写体を撮像フレーム内に維持して、目的の被写体を自動追尾して撮像し続けることができる。従って、この撮像方法を用いた自動追尾撮像装置によれば、構成を簡略化しつつ目的の被写体を自動追尾して撮像でき、移動体上からの被写体の撮像を容易かつ正確に行える。
【図面の簡単な説明】
【図１】本発明の第一の実施の形態に係る自動追尾撮像装置の構成を示したブロック図である。
【図２】本発明の第一の実施の形態に係る自動追尾撮像装置を構成する画角決定部での画角決定方法を説明するための説明図である。
【図３】本発明の第一の実施の形態に係る自動追尾撮像装置を構成する画角決定部での垂直画角の算出方法を説明するための説明図である。
【図４】本発明の第一の実施の形態に係る自動追尾撮像装置を構成する追尾手段による被写体の自動追尾の方法を説明するための説明図である。
【図５】本発明の第一の実施の形態に係る自動追尾撮像装置により被写体を自動追尾して撮像する際の動作を示すフローチャートである。
【図６】本発明の第一の実施の形態に係る自動追尾撮像装置を移動体に載置して被写体を撮像する状態を説明するための説明図である。
【図７】本発明の第二の実施の形態に係る自動追尾撮像装置の構成を示したブロック図である。
【図８】本発明の第二の実施の形態に係る自動追尾撮像装置を移動体に載置して被写体を撮像する状態を説明するための説明図である。
【符号の説明】
１　　　自動追尾撮像装置
１Ｂ　　自動追尾撮像装置
２　　　カメラ
２１　　パン・チルト駆動部
２２　　フォーカス駆動部
３　　　被写体捕捉部
３Ｂ　　被写体捕捉部
３１　　信号送出部
３２　　信号受信部
３２Ｂ　電波受信部
３３　　受信強度測定部
３３Ｂ　受信電界測定部
３４　　伝播時間測定部
３４Ｂ　受信電力測定部
３５　　方向特定部
３６　　距離特定部
４　　　自動追尾部
４１　　記憶部
４２　　被写体位置検出部
４２ａ　輪郭抽出部４２ａ
４２ｂ　色抽出部４２ｂ
４３　　画角決定部
４４　　制御部
Ａ１　　移動体（バイク）
Ａ２　　移動体（ヘリコプタ）
Ｂ１　　被写体（マラソン選手）
Ｂ２　　被写体（陸上競技場）
Ｃ１　　電波送出装置[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an imaging technique for tracking and capturing an image of a subject, and more particularly, to an automatic tracking imaging apparatus and an automatic tracking imaging method for automatically tracking and capturing an image of a subject when capturing a subject from a moving object.
[Prior art]
[0002]
Conventionally, when photographing an object from a moving object such as a motorcycle or a helicopter with an imaging device such as a camera, for example, a driver of the moving object moves the moving object so that the photographer is located in a place where the photographer can easily photograph the object. On the other hand, the photographer of the camera has to adjust the angle of the camera to photograph the subject, and the operator of the moving body and the photographer of the camera need to photograph the subject while cooperating well.
[0003]
As described above, in the conventional imaging apparatus, not only two workers are required, but also the degree of communication between the two workers affects the image quality, and a good image is obtained. It was not easy to get. For this reason, it is desired to mount an automatic tracking camera on a moving body and automatically track and capture an image of a target object with the automatic tracking camera.
[0004]
As a conventional automatic tracking type camera, a luminous body such as an LED is attached to a subject, and stereo image processing of an image captured by two sensor cameras installed at a predetermined interval from each other allows the luminous body such as an LED to be formed. One that detects the color, specifies the position and direction of the subject, and performs automatic tracking of the subject. However, in this camera, it is necessary to install the two sensor cameras apart from each other, so that the apparatus becomes large-sized and cannot be mounted on a moving body and used.
[0005]
[Problems to be solved by the invention]
SUMMARY An advantage of some aspects of the invention is to provide an automatic tracking imaging apparatus and an automatic tracking imaging method that can easily and accurately capture an image of a subject from a moving object.
[0006]
[Means for Solving the Problems]
SUMMARY OF THE INVENTION The present invention has been made to achieve the above object. First, an automatic tracking imaging apparatus according to claim 1 is configured to control the driving of a pan / tilt driving unit and a focus driving unit of an imaging unit. An auto-tracking imaging apparatus for automatically tracking and photographing a subject, comprising: a subject capturing unit that captures a target subject by an imaging unit; and the subject captured by the subject capturing unit is maintained in an image captured by the imaging unit. And automatic tracking means.
[0007]
According to such a configuration, the automatic tracking imaging apparatus recognizes and captures a target subject by the imaging means by the subject capturing means, for example, by image recognition. Further, the pan / tilt drive unit and the focus drive unit of the imaging unit are driven by the automatic tracking unit so that the subject captured by the subject capture unit is arranged at the center of the image captured by the imaging unit.
[0008]
According to a second aspect of the present invention, there is provided the automatic tracking imaging apparatus according to the first aspect, wherein the subject capturing unit includes a signal transmitting unit that transmits a pulse signal, and a reflected signal in which the pulse signal is reflected by the subject. Receiving means, receiving strength measuring means for measuring the intensity of the reflected signal received by the signal receiving means, and specifying the direction in which the subject is located based on the measurement result measured by the receiving strength measuring means. A direction specifying means for supplying the specified direction as a drive signal to the pan / tilt drive unit of the imaging means, a propagation time measuring means for measuring a propagation time of the pulse signal and the reflection signal, and a measurement using the propagation time measuring means. Distance specifying means for specifying a distance from the imaging means to the subject based on the measurement result, and supplying the specified distance as a drive signal to a focus drive unit of the imaging means. It was configured to include the.
[0009]
According to this configuration, the automatic tracking imaging apparatus transmits a pulse signal such as an ultrasonic wave or a radio wave by the signal transmitting unit, receives the reflected signal of the pulse signal reflected by the subject by the signal receiving unit, and measures the reception intensity. The intensity of the reflected signal received by the signal receiving means is measured by the means. Then, based on the measurement result measured by the reception intensity measurement unit, the direction identification unit identifies a direction having a high intensity as a direction in which the subject is located, and uses the direction as a drive signal to drive the pan / tilt drive unit of the imaging unit. Drive. Accordingly, the automatic tracking imaging apparatus can specify the direction in which the subject is located, and can always arrange the subject, for example, at the center of the captured image.
[0010]
In the automatic tracking imaging apparatus, the propagation time measuring unit measures the propagation time from when the pulse signal is transmitted to when the pulse signal is reflected on the subject and returns as a reflected signal. Then, based on the measurement result measured by the propagation time measuring means, the distance specifying means specifies the distance to the subject based on, for example, the speed and propagation time of the pulse signal, and uses the distance as a drive signal to drive the focus of the imaging means. Drive unit. Thus, the automatic tracking imaging apparatus can specify the distance to the subject, and can always focus on the subject.
[0011]
According to a third aspect of the present invention, in the automatic tracking imaging apparatus according to the first aspect, the subject capturing unit receives a pulse signal transmitted from the subject side, and the signal receiving unit receives the signal. Receiving intensity measuring means for measuring the intensity of the pulse signal received by the means, and specifying the direction in which the subject is located based on the measurement result measured by the receiving intensity measuring means, and using the specified direction as a drive signal as an imaging means Direction specifying means for supplying to the pan / tilt drive unit, received power measuring means for measuring the received power of the pulse signal, and a distance from the imaging means to the subject based on the measurement result measured by the received power measuring means. And a distance specifying unit that supplies the specified distance as a drive signal to a focus drive unit of the imaging unit.
[0012]
According to this configuration, the automatic tracking imaging apparatus receives the pulse signal transmitted from the subject side, for example, a radio wave, by the signal receiving unit, and receives the intensity of the pulse signal received by the signal receiving unit by the reception intensity measuring unit. For example, the electric field strength of a radio wave is measured. Then, based on the measurement result measured by the reception intensity measurement unit, the direction identification unit identifies a direction having a high intensity as a direction in which the subject is located, and uses the direction as a drive signal to drive the pan / tilt drive unit of the imaging unit. Drive.
[0013]
In the automatic tracking imaging apparatus, the reception power measurement unit measures the reception power of the pulse signal. Then, the distance specifying unit specifies the distance from the imaging unit to the subject based on the measurement result measured by the received power measurement unit, and drives the focus drive unit of the imaging unit using the distance as a drive signal.
[0014]
Further, in the automatic tracking imaging apparatus according to claim 4, in the automatic tracking imaging apparatus according to any one of claims 1 to 3, the automatic tracking unit is configured to detect a very small amount of color of at least a part of the subject. Storage means for storing color information indicating the angle of view and the angle of view information indicating the relationship between the size of a part of the subject and the size of the entire subject; and referring to the color information stored in the storage means, An object angle detecting unit that detects an object position and an angle of view that determines an angle of view such that the object is represented at a predetermined position in the captured image by occupying a predetermined range with reference to the angle of view information stored in the storage unit; A configuration is provided that includes a determining unit and a control unit that controls the driving of the focus driving unit and the pan / tilt driving unit of the imaging unit based on the angle of view determined by the angle of view determining unit.
[0015]
According to such a configuration, the automatic tracking image pickup apparatus refers to the color information indicating at least a part of the color of the object stored in the storage means by the object position detection means, Detect the position of. If the subject is included in the captured image, the view angle determining unit refers to the view angle information indicating the relationship between the partial size and the entire size of the subject stored in the storage unit, and determines whether the subject is present. The angle of view is determined so as to occupy a predetermined range in a predetermined position in the captured image. Then, the control unit drives the pan / tilt drive unit and the focus drive unit of the imaging unit based on the angle of view determined by the angle of view determination unit. Accordingly, the automatic tracking imaging apparatus can accurately recognize the subject, and can increase the accuracy of the automatic tracking.
[0016]
The automatic tracking imaging method according to claim 5 is an automatic tracking imaging method for automatically tracking and capturing an image of a target subject by controlling driving of a pan / tilt driving unit and a focus driving unit of an imaging unit. The method includes a subject capturing step of capturing a target subject by the means, and an automatic tracking step of maintaining the subject captured by the subject capturing step in an image captured by the imaging unit.
[0017]
According to this method, in the automatic tracking imaging method, the target object is recognized and captured by the imaging unit in the subject capturing step, for example, by image recognition. Further, in the automatic tracking step, the pan / tilt drive unit and the focus drive unit of the imaging unit are driven so that the subject captured by the subject capture unit is arranged at the center of the image captured by the imaging unit.
[0018]
Further, in the automatic tracking imaging method according to claim 6, in the automatic tracking imaging method according to claim 5, the subject capturing step includes a signal transmitting step of transmitting a pulse signal, and a reflected signal in which the pulse signal is reflected by the subject. Receiving a signal, receiving intensity measuring step for measuring the intensity of the reflected signal received in the signal receiving step, and specifying the direction in which the subject is located based on the measurement result measured in the receiving intensity measuring step. A direction specifying step of supplying the specified direction as a drive signal to the pan / tilt drive unit of the imaging unit; a propagation time measuring step of measuring a propagation time of the pulse signal and the reflection signal; and a propagation time measuring step. Based on the measurement result, the distance from the imaging means to the subject is specified, and the specified distance is used as a drive signal for the imaging means. A distance specifying step of supplying the Okasu drive unit, characterized in that it contains.
[0019]
According to this method, the automatic tracking imaging method transmits a pulse signal such as an ultrasonic wave or a radio wave in a signal transmitting step, receives a reflected signal in which the pulse signal is reflected by a subject in a signal receiving step, and measures reception intensity. Measuring the intensity of the reflected signal received in the signal receiving step. Then, in the direction specifying step, based on the measurement result measured in the reception intensity measuring step, the direction in which the intensity is strong is specified as the direction in which the subject is located, and the direction is used as a drive signal to drive the pan / tilt drive unit of the imaging unit. Drive. Thereby, the automatic tracking imaging method can specify the direction in which the subject is located, and can always arrange the subject at the center in the captured image, for example.
[0020]
In the automatic tracking imaging method, in the propagation time measuring step, the propagation time from when the pulse signal is transmitted to when the pulse signal is reflected on the subject and returns as a reflected signal is measured. In the distance specifying step, the distance to the subject is specified based on the measurement result measured in the propagation time measuring step, for example, based on the speed and the propagation time of the pulse signal, and the distance is used as a drive signal by the imaging unit. Drive the focus driver. Accordingly, the automatic tracking imaging method can specify the distance to the subject, and can always focus on the subject.
[0021]
In the automatic tracking imaging method according to a seventh aspect, in the automatic tracking imaging method according to the fifth aspect, the subject capturing step includes a signal receiving step of receiving a pulse signal transmitted from the subject side, and the signal receiving step. A receiving intensity measuring step of measuring the intensity of the pulse signal received in the step, and a direction in which the subject is located based on the measurement result measured in the receiving intensity measuring step, and the specified direction as a driving signal by the imaging unit. A direction specifying step for supplying the pan / tilt driving unit, a receiving power measuring step for measuring the receiving power of the pulse signal, and a distance from the imaging unit to the subject based on the measurement result measured in the receiving power measuring step. And a distance specifying step of supplying the specified distance as a drive signal to a focus drive unit of the imaging unit. And said that you are.
[0022]
According to this method, in the automatic tracking imaging method, in the signal receiving step, a pulse signal transmitted from the subject side, for example, a radio wave or the like is received, and in the reception intensity measuring step, the intensity of the pulse signal received in the signal receiving step is For example, the electric field strength of a radio wave is measured. Then, in the direction specifying step, based on the measurement result measured in the reception intensity measuring step, the direction in which the intensity is strong is specified as the direction in which the subject is located, and the direction is used as a drive signal to drive the pan / tilt drive unit of the imaging unit. Drive.
[0023]
In the automatic tracking imaging method, the reception power of the radio wave is measured in the reception power measurement step. Then, in the distance specifying step, the distance from the imaging means to the subject is specified based on the measurement result measured in the received power measurement step, and the distance is used as a drive signal to drive the focus driving section of the imaging means.
[0024]
Furthermore, the automatic tracking imaging method according to claim 8 is the automatic tracking imaging method according to any one of claims 5 to 7, wherein the automatic tracking step includes at least a part of a subject stored in advance. A subject position detecting step of detecting the position of the subject in the image captured by the image capturing means with reference to the color information indicating a very small amount of color; and an image showing a relationship between a part size and a pre-stored overall size of the subject. With reference to the angle information, an angle of view determining step of determining an angle of view so that the target object is represented at a predetermined position in the captured image occupying a predetermined range, and based on the angle of view determined in the angle of view determination step And controlling the driving of the pan / tilt drive unit and the focus drive unit of the imaging unit.
[0025]
According to this method, in the automatic tracking imaging method, the subject position detecting step refers to the color information indicating the very small amount of the color of at least a part of the subject stored in the storage means, and Detect the position of. If the subject is included in the captured image, the subject is referred to in the view angle determination step by referring to view angle information indicating a relationship between a partial size and an entire size of the subject stored in the storage unit. The angle of view is determined so as to occupy a predetermined range in a predetermined position in the captured image. Then, the control step drives the pan / tilt drive unit and the focus drive unit of the imaging unit based on the angle of view determined in the angle of view determination step. This makes it possible for the automatic tracking imaging method to accurately recognize the subject, thereby improving the accuracy of the automatic tracking.
[0026]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Configuration of Automatic Tracking Imaging Apparatus: First Embodiment)
FIG. 1 is a block diagram showing a configuration of the automatic tracking imaging apparatus 1 according to the first embodiment. The automatic tracking imaging apparatus 1 controls the driving of the pan / tilt driving unit 21 and the focus driving unit 22 of the camera 2 to maintain the target subject in the imaging frame 2A of the camera 2 and automatically track and capture an image. Things.
[0027]
As shown in FIG. 1, the automatic tracking imaging apparatus 1 includes a subject capturing unit 3 that captures a target subject with an imaging frame 2A of a camera 2, and a target subject captured by the subject capturing unit 3 with the imaging frame 2A. An automatic tracking unit 4 for maintaining an image captured by the camera 2 is provided.
[0028]
The camera 2 includes a pan / tilt drive unit 21 for changing the pan and tilt for setting the angle of view, and a focus drive unit 22 for changing the focus. Output to the outside via
[0029]
The subject capturing section (subject capturing means) 3 includes a signal transmitting section 31 for transmitting a pulse signal, a signal receiving section 32 for receiving a reflected signal of the pulse signal, and a receiving section for measuring the intensity of the signal received by the signal receiving section 32. The intensity measuring unit 33, the propagation time measuring unit 34 for measuring the propagation time of the received signal in the signal receiving unit 32, and the driving of the pan / tilt driving unit 21 of the camera 2 are controlled by specifying the direction in which the subject is located. The camera includes a direction specifying unit 35 and a distance specifying unit 36 that specifies the distance to the subject and controls the driving of the focus driving unit 22 of the camera 2.
[0030]
The signal transmitting unit (signal transmitting unit) 31 converts a transmission pulse, which is an electric signal, into a pulse signal such as an ultrasonic wave or a radio wave by a pulse signal contactor and periodically transmits the signal to the outside at predetermined time intervals. Is what you do.
[0031]
The signal receiving section (signal receiving means) 32 continuously receives a reflected signal in which the pulse signal transmitted by the signal transmitting section 31 is reflected on the target. Further, the signal receiving section 32 demodulates and amplifies the received signal, and performs amplitude correction, waveform smoothing, noise removal processing, and the like as necessary.
[0032]
The reception intensity measurement unit (reception intensity measurement means) 33 sets the intensity (reception intensity) of the reception signal at the signal reception unit 32 to a specific sampling position on the captured image, Is generated.
[0033]
The propagation time measuring section (propagation time measuring means) 34 determines whether the signal received by the signal receiving section 32 is equal to the time difference between the transmission time from the signal transmitting section 31 and the reception time at the signal receiving section 32. Is measured from the transmission of the data to the reception at the signal receiving unit 32.
[0034]
The direction specifying unit (direction specifying unit) 35 specifies the direction in which the subject is located based on the reception intensity measured by the reception intensity measurement unit 33, and transmits the direction to the pan / tilt drive unit 21 of the camera 2 based on the specified direction. It supplies a drive signal. The direction identification unit 35 identifies the sampling position corresponding to the peak value of the signal intensity in the reception signal intensity data as the direction in which the subject is located, with reference to the reception signal intensity data generated by the reception intensity measurement unit 33.
[0035]
The distance specifying unit (distance specifying unit) 36 calculates the distance from the camera 2 to the target subject based on the propagation time measured by the propagation time measuring unit 34, and based on the calculation result, the focus driving unit of the camera 2 22 is supplied with a drive signal.
[0036]
The subject capturing unit 3 configured as described above transmits a pulse signal from the signal transmitting unit 31, and the pulse signal is received by the signal receiving unit 32. Then, the reception intensity measurement unit 33 measures the intensity of the reception signal received by the signal reception unit 32, identifies the direction in which the subject is located by the direction identification unit 35 based on the measurement result, and based on the identified direction. And a drive signal to the pan / tilt drive unit 21 of the camera 2. Then, the pan / tilt drive unit 21 of the camera 2 adjusts the pan and tilt based on the drive signal, and directs the imaging frame 2A of the camera 2 in the direction specified by the direction specifying unit 35.
[0037]
On the other hand, the propagation time measuring unit 34 measures the propagation time until the pulse signal transmitted from the signal transmitting unit 31 is received by the signal receiving unit 32 as a reflected signal. Then, the distance to the subject is specified by the distance specifying unit 36 based on the measurement result, and a drive signal is supplied to the focus drive unit 22 of the camera 2 based on the specified distance. Then, the focus drive unit 22 of the camera 2 performs focus adjustment based on the drive signal, and focuses the camera 2 on a target subject.
[0038]
The automatic tracking unit (automatic tracking means) 4 performs image processing on the captured image, detects a part of the target subject as a subject specific area, and automatically tracks the subject. For example, the head of a subject is detected as a subject specific region, and that region is always held in a captured image. The automatic tracking unit 4 includes a storage unit 41 that stores information about a target subject, a subject position detection unit 42 that detects the position of the subject in the captured image, and a predetermined position in the captured image of the camera 2 , An angle-of-view determining unit 43 that determines an angle of view so as to occupy a predetermined range, and a pan / tilt drive unit 21 and a focus drive of the camera 2 in accordance with the movement of a target subject in a captured image of the camera 2. A control unit 44 for controlling the driving of the unit 22.
[0039]
The storage unit (storage unit) 41 stores color information indicating a color arrangement mode of a color that is a trace amount of the color of the subject specific region for specifying the subject, and view angle information indicating a ratio of the subject specific region to the entire subject. It is something to memorize. For example, when the subject is a marathon athlete, the head of the marathon athlete is used as a subject specific area, the color scheme of the face color and the hair color, which is the color of the marathon athlete, as color information, The size of the head with respect to the size of the entire body is stored in the storage unit 41 as angle-of-view information.
[0040]
The subject position detection unit (subject position detection means) 42 includes an outline extraction unit 42a and a color extraction unit 42b, compares the color arrangement of the colors in the captured image with the color information stored in the storage unit 41, and performs image capturing. The position of the subject specific area of the subject in the image is detected.
[0041]
The contour extraction unit 42a detects an edge of an object in the captured image input from the camera 2 and extracts the edge as contour information. The contour extraction in the contour extracting unit 42a can be realized using a known technique. For example, a difference in luminance is calculated by performing a difference operation on a captured image, a portion where the luminance difference greatly changes is detected as an edge, and the detected position information is used as contour information.
[0042]
The color extracting unit 42b compares the color scheme of the colors in the captured image with the color information stored in the storage unit 41, and recognizes a subject specifying area for specifying a subject in the captured image. Information on the subject specific area recognized by the color extracting unit 42b (the position, size, and the like of the subject specific area in the captured image) is output to the view angle determining unit 43.
[0043]
The recognition of the subject specific area of the subject by the color extraction in the color extraction unit 42b can be realized using a known technique. For example, when the color information stored in the storage unit 41 is a color scheme of a head color composed of a face color (hereinafter referred to as A color) and a hair color (hereinafter referred to as B color), To extract the head as the subject specific area, the color extracting unit 42b extracts a plurality of A-color and B-color areas for each area divided by the contour based on the contour information extracted by the contour extracting unit 42a. I do. Then, a certain area image including the A color area in the captured image is enlarged, and when the B color area is included in the enlarged image, the B color area is an area adjacent to the A color. It is determined that there is, and the areas of the colors A and B are recognized as the subject specific area.
[0044]
In addition to the above, there are various types of recognition of a subject specific area of a subject based on color information. For example, the applicant of the present application discloses this as a "method of recognizing a subject in an automatic photographing camera system (Japanese Patent Application Laid-Open No. 9-322178)". It can be realized by using the technology.
[0045]
The angle-of-view determining unit (angle-of-view determining unit) 43 is configured to detect a subject position based on the angle-of-view information stored in the storage unit 41 and the distance from the camera 2 to the subject calculated by the distance specifying unit 36. The angle of view is determined so that the subject specific region of the subject detected at 42 occupies a predetermined range in a predetermined position in the captured image. For example, as shown in FIG. 2A, when only a part of the subject is included in the captured image, the angle-of-view determination unit 43 determines whether or not the object included in the captured image included in the angle-of-view information stored in the storage unit 41. In consideration of the relationship between the length L1 and width W1 of the specific area (for example, the head) and the length L2 and width W2 of the entire subject, as shown in FIG. The angle of view is calculated so as to occupy a predetermined range at a predetermined position.
[0046]
As shown in FIG. 3, the angle of view is L1 (m), the length of the face, which is the subject specific area, L2 (m), the length of the entire subject (height), and D, the distance from the camera 2 to the subject. (M), when the height of the face of the captured image as the view angle information is 1 and the normalized face size is r, the view angle (vertical view angle) θ (°) of the camera 2 is as follows: ) Formula.
[0047]
θ = 2 tan ^-1 (L1 / (2rD)) (1)
[0048]
The control unit (control means) 44 controls the pan / tilt drive unit 21 and the focus drive unit 22 based on the angle of view determined by the angle-of-view determination unit 43 so that the target subject is located at the center of the captured image. It is. As shown in FIG. 4, the control unit 44 calculates the coordinates of the center of gravity G of the rectangular area R including the subject specifying area M in the captured image, uses the coordinates of the center of gravity G as a starting point, and sets the center C of the captured image as A vector having the coordinates of the end point is obtained, and the rotation angle of the imaging frame 2A is calculated based on the direction of the vector and the scalar amount. Then, based on the calculation result, a drive signal is supplied to the pan / tilt drive unit 21 and the focus drive unit 22 of the camera 2 so that the subject specific area is displayed at a predetermined position in the captured image at a predetermined angle of view. .
[0049]
(Operation of the automatic tracking imaging apparatus 1)
Next, an operation when the automatic tracking imaging apparatus 1 automatically captures and captures an image of a target subject will be described with reference to the flowchart in FIG.
In the automatic tracking imaging apparatus 1, first, the signal transmission unit 31 transmits a pulse signal (Step S1), and the signal reception unit 32 receives a reflected signal in which the pulse signal is reflected on the target (Step S2). Then, the reception intensity measurement unit 33 measures the intensity of the reception signal at the signal reception unit 32 (step S3) to generate reception intensity measurement data, and based on the reception intensity measurement data, the direction identification unit 35 Is specified (step S4), and a drive signal based on the calculation result is supplied to the pan / tilt drive unit 21 of the camera 2. The pan / tilt drive unit 21 of the camera 2 adjusts the pan and tilt by the drive signal, and turns the imaging frame 2A in the direction in which the subject is located (Step S5).
[0050]
On the other hand, the propagation time measuring section 34 measures the propagation time from when the pulse signal is sent out by the signal sending section 31 to when the signal receiving section 32 receives the reflected signal corresponding to the pulse signal (step S6). The distance specifying unit 36 calculates the distance to the subject based on the obtained propagation time (step S7), and supplies a drive signal based on the calculation result to the focus drive unit 22 of the camera 2. The focus drive unit 22 of the camera 2 adjusts the focus by this drive signal, and focuses on the target subject (step S8). Thereby, the subject is captured in the imaging frame 2A.
[0051]
For the subject captured in the imaging frame in this way, the subject position detection unit 42 compares the color information stored in the storage unit 41 with the color scheme of the color in the captured image, and A specific area is detected (step S9). Then, it is determined whether or not the subject specific area is included in the captured image (step S10).
[0052]
When the captured image includes the subject specifying area (Yes in step S10), the view angle determining unit 43 stores the view angle information stored in the storage unit 41 and the subject calculated by the distance specifying unit 36. The angle of view (vertical angle of view) of the camera 2 is calculated based on the distance to the camera (step S11).
[0053]
Then, the control unit 44 calculates the rotation angle of the camera so that the subject specific region occupies a predetermined range at a predetermined position in the captured image (Step S12), and calculates the vertical angle of view calculated in Step S11. The drive of the pan / tilt drive unit 21 and the focus drive unit 22 of the camera 2 is controlled based on the rotation angle calculated in step S12 (step S13). As described above, by repeating the operation from step S1 to step S13, the subject is imaged so as to occupy a predetermined range in a predetermined position in the captured image.
[0054]
On the other hand, when the subject position detection unit 42 determines that the subject specific area of the target subject is not represented in the captured image (No in Step S10), the processing from Step S1 to Step S10 is repeated. By repeating such operations, the target subject is imaged while maintaining a predetermined position and size in the captured image.
[0055]
(Example of operation of automatic tracking imaging apparatus 1)
Next, as shown in FIG. 6, the operation of the automatic tracking imaging apparatus 1 when the automatic tracking imaging apparatus 1 is attached to a motorcycle A1 as a moving object and the automatic tracking imaging apparatus 1 automatically tracks a marathon player B1 as a subject from the moving motorcycle A1. explain.
First, in the automatic tracking imaging apparatus 1, the pulse signal is transmitted by the signal transmission unit 31, and the reflected signal is received by the signal reception unit 32. The reception intensity measurement unit 33 measures the intensity of the reception signal, and based on the measurement result, the direction identification unit 35 identifies the direction in which the marathon player B1 is located, and adjusts the pan and tilt by the pan / tilt drive unit 21 of the camera 2. Then, the imaging frame 2A is turned in the direction where the marathon player B1 is located.
[0056]
On the other hand, the propagation time measuring unit 34 measures the propagation time of the received signal from the signal transmitting unit 31 in the signal receiving unit 32, and the distance specifying unit 36 calculates the distance to the marathon player based on the measurement result. The focus is adjusted by the focus drive unit 22 of the camera 2 to focus on the target marathon athlete B1, and the subject is captured by the camera 2.
[0057]
Next, the subject position detecting unit 42 determines whether or not the head (subject specific area) of the target marathon player B1 is included in the captured image with reference to the color information stored in the storage unit 41, If the angle of view is determined to be included, the angle of view determination unit 43 determines the angle of view based on the angle of view information stored in the storage unit 41. The control unit 44 controls the pan / tilt drive unit 21 and the focus drive unit of the camera 2 so that a rectangular area including the head (subject specific area) of the marathon player B1 is represented at a predetermined position in the captured image so as to occupy a predetermined range. By controlling the driving of the camera 22, the image of the subject specific area is maintained in the image captured by the camera 2. As a result, the marathon athlete B1 as the subject is imaged so as to occupy a predetermined range in a predetermined position in the captured image. By repeating such an operation, the marathon player B1 as the target subject is imaged while maintaining a predetermined angle of view in the captured image.
[0058]
As described above, according to the automatic tracking imaging apparatus 1, the direction in which the subject is located is specified based on the intensity of the received signal at the signal receiving unit 32, and the subject is determined based on the propagation time of the received signal at the signal receiving unit 32. Since the subject can be automatically captured and imaged by the imaging frame 2A with a simple configuration of specifying the distance to the object, the object can be placed on the moving body and the target object can be automatically tracked from the moving body. . In addition, the automatic tracking imaging apparatus 1 uses the automatic tracking unit 4 to place the subject in the imaging frame 2A so that the subject captured by the subject capturing unit 3 occupies a predetermined range in a captured image. By maintaining the state, it is possible to continuously perform the tracking and the imaging, so that the imaging apparatus can be easily and accurately placed on the moving body and imaged from the moving body.
[0059]
In the above-described embodiment, a case has been described in which the marathon player B1 running alone is captured by the imaging frame 2A of the camera 2 and is automatically tracked and imaged. However, even when a plurality of marathon runners B1 are running in a group, the automatic tracking imaging apparatus 1 of the present invention can capture this group with the imaging frame 2A and perform automatic tracking.
In this case, when a position where the signal strength in the received signal strength data generated by the received strength measuring unit 33 is higher than the surroundings exists with a predetermined spread, the direction specifying unit 35 determines that the subject is a group. to decide.
[0060]
Then, the subject position detecting unit 42 detects a plurality of subject specifying regions that are the heads of the subjects based on the determination by the direction specifying unit 35, and the view angle determining unit 43 includes the plurality of subject specifying regions. The angle of view is calculated so that the region is defined as a subject specific region of a plurality of marathon players as a whole and occupies a predetermined range in a predetermined position in the captured image.
Then, the control unit 44 changes the angle of view so that the center of gravity of the rectangular area including the subject specific area of the entire marathon player is located at the center of the captured image. As a result, a group as a subject can be captured by the imaging frame 2A of the camera 2 and automatically tracked.
[0061]
Since the color information stored in the storage unit 41 differs in the color arrangement in the captured image depending on the imaging direction even for the same subject, taking this into account, the color information is converted into the color of the subject viewed from various angles. By adopting the color arrangement mode, it is possible to more accurately determine whether or not the target subject is included in the captured image. For example, when the shooting direction is the right side of the marathon runner, the right side of the head in the captured image is the skin color and the left side is the hair color.
[0062]
On the other hand, when the shooting direction is the left side of the marathon player, the left side of the head in the captured image is the skin color and the right side is the hair color. When the shooting direction is the front side and the rear side of the marathon runner, the upper part of the head is the hair color and the lower part is the skin color. In this case, when the photographing direction is the front side, the skin color area is larger than the hair color area, and when the photographing direction is the rear side, the hair color area is larger than the skin color area. Area becomes large. Therefore, the storage unit 41 may register the color arrangement modes in these cases as color information in a table or the like. In addition, the angle of view information also stores information such as the head length with respect to the human height, the head width with respect to the shoulder width, and the head thickness with respect to the chest thickness so that accurate judgment can be made according to the shooting direction. Etc. may be registered.
[0063]
(Configuration of Automatic Tracking Imaging Apparatus: Second Embodiment)
FIG. 7 is a block diagram illustrating a configuration of an automatic tracking imaging apparatus 1B according to the second embodiment. The automatic tracking imaging apparatus 1B receives a radio wave transmitted from the subject, specifies the distance and position of the subject based on the electric field strength and the received power of the radio wave, and sets the pan / tilt drive unit 21 and the focus drive unit of the camera 2 By controlling the driving of the camera 22, the target object is maintained in the imaging frame 2A of the camera 2, and the object is automatically tracked and imaged.
[0064]
The automatic tracking imaging apparatus 1B deletes the signal transmitting unit 31 from the subject capturing unit 3 of the automatic tracking imaging apparatus 1 (FIG. 1), receives the signal receiving unit 32 by the radio wave receiving unit 32B, and receives the reception intensity measuring unit 33. The electric field measuring unit 33B is configured as a subject capturing unit 3B by replacing the propagation time measuring unit 34 with the received power measuring unit 34B. The components other than the radio wave receiving unit 32B, the received electric field measuring unit 33B, and the received power measuring unit 34B are denoted by the same reference numerals as those of the automatic tracking imaging apparatus 1 in FIG.
[0065]
The radio wave receiving section (signal receiving means) 32B receives a radio wave emitted from a radio wave transmitting section (not shown) of the subject. The radio wave receiving unit 32B receives a radio wave and performs demodulation. The signals received here are output to the reception electric field measurement unit 33B and the reception power measurement unit 34B, respectively.
[0066]
The reception electric field measurement unit (reception intensity measurement means) 33B measures the electric field intensity of the radio wave received by the radio wave reception unit 32B. Based on the electric field intensity measured by the received electric field measuring unit 33B, the direction specifying unit 35 specifies the direction in which the electric field intensity is maximum, and drives the pan / tilt driving unit 21.
[0067]
The reception power measurement unit (reception power measurement means) 34B calculates the distance from the automatic tracking imaging apparatus 1B to the subject at the maximum reception electric field point where the electric field intensity is maximum. For example, the following formula (2) can be used to calculate the distance d based on the reception electric field calculation formula E of the radio wave.
[0068]
E = P + G + R + L Equation (2)
[0069]
Here, P: transmission output, G: transmission parabola gain, R: reception parabola gain, and L: free space loss. In addition, L can be expressed by equation (3).
[0070]
L = 20log (4πd / λ) = 122 + 20log {d (km)} − 20log {λ (cm)} Equation (3)
[0071]
Here, d = distance (km), λ = wavelength (cm) = (3 × 10 ⁸ According to such a configuration, for example, as shown in FIG. 8, when capturing an image of a terrestrial athletics stadium B2 as a subject from an automatic tracking imaging device 1B mounted on a helicopter A2, The subject can be captured in the imaging frame based on the radio wave transmitted from the transmission device C1, and can be automatically tracked. In this case, the storage unit 41 stores, for example, green and brown colors of a lawn or a track as color information as a color scheme of the athletic stadium B2 as the target subject.
[0072]
【The invention's effect】
As described above, the automatic tracking imaging apparatus and the automatic tracking imaging method according to the present invention have the following excellent effects.
According to the first or fifth aspect of the present invention, after capturing a target subject, the subject is maintained in the captured image, so that the camera is linked to the movement of the subject or even when the camera moves. The subject can be automatically tracked by driving the pan, tilt, and focus.
[0073]
According to the second or sixth aspect of the invention, the direction in which the subject is located is specified based on the intensity of the received pulse signal, and the distance to the subject is specified based on the propagation time of the received signal. A subject moving with respect to the imaging means can be automatically captured and captured by the capturing frame while simplifying the configuration of the automatic tracking imaging apparatus, and the subject can be easily and accurately captured from the moving body.
[0074]
According to the third or seventh aspect of the present invention, the direction in which the subject is located is specified based on the intensity of the received radio wave, and the distance to the subject is specified based on the received power. While simplifying the configuration, the subject moving with respect to the imaging means can be automatically captured by the imaging frame, and the subject can be easily and accurately imaged from the moving body.
[0075]
According to the invention as set forth in claim 4 or claim 8, the object is defined such that at least a part of the object included in the captured image is represented in the captured image at a predetermined position in the captured image so as to occupy a predetermined range. The target object can be continuously tracked and continuously imaged while being maintained within the imaging frame. Therefore, according to the automatic tracking imaging apparatus using this imaging method, the target object can be automatically tracked and imaged while simplifying the configuration, and the imaging of the object from the moving object can be easily and accurately performed.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of an automatic tracking imaging apparatus according to a first embodiment of the present invention.
FIG. 2 is an explanatory diagram for describing an angle-of-view determining method in an angle-of-view determining unit included in the automatic tracking imaging apparatus according to the first embodiment of the present invention.
FIG. 3 is an explanatory diagram for explaining a method of calculating a vertical angle of view in an angle of view determination unit included in the automatic tracking imaging apparatus according to the first embodiment of the present invention.
FIG. 4 is an explanatory diagram for describing a method of automatic tracking of a subject by a tracking unit included in the automatic tracking imaging apparatus according to the first embodiment of the present invention.
FIG. 5 is a flowchart illustrating an operation when the automatic tracking imaging apparatus according to the first embodiment of the present invention automatically captures and captures an image of a subject.
FIG. 6 is an explanatory diagram for explaining a state in which the automatic tracking imaging apparatus according to the first embodiment of the present invention is mounted on a moving object and images a subject.
FIG. 7 is a block diagram illustrating a configuration of an automatic tracking imaging apparatus according to a second embodiment of the present invention.
FIG. 8 is an explanatory diagram illustrating a state in which the automatic tracking imaging apparatus according to the second embodiment of the present invention is mounted on a moving object and images a subject.
[Explanation of symbols]
1 automatic tracking imaging device
1B automatic tracking imaging device
2 Camera
21 Pan / Tilt driver
22 Focus driver
3 Subject capturing section
3B subject capturing unit
31 Signal sending unit
32 signal receiver
32B radio wave receiver
33 Reception strength measurement unit
33B Received electric field measurement unit
34 Propagation time measurement unit
34B Received power measurement unit
35 Direction identification unit
36 Distance specifying unit
4 Automatic tracking unit
41 Memory
42 Subject position detector
42a contour extraction unit 42a
42b Color extraction unit 42b
43 Angle of view determination unit
44 control unit
A1 mobile (motorcycle)
A2 Moving object (helicopter)
B1 subject (marathon player)
B2 Subject (Athletics stadium)
C1 radio wave transmission device

Claims

An auto-tracking imaging apparatus that automatically tracks and shoots a target object by controlling driving of a pan / tilt drive unit and a focus drive unit of an imaging unit,
Subject capturing means for capturing a target subject by the image capturing means;
An automatic tracking unit that maintains the subject captured by the subject capturing unit in an image captured by the imaging unit;
An automatic tracking imaging apparatus comprising:

The subject capturing means,
Signal sending means for sending a pulse signal;
A signal receiving unit that receives a reflected signal reflected by the subject from the pulse signal, and a reception intensity measuring unit that measures the intensity of the reflected signal received by the signal receiving unit.
Based on the measurement result measured by the reception intensity measuring means, specifies the direction in which the subject is located, and direction specifying means for supplying the specified direction as a drive signal to the pan / tilt driving unit of the imaging means,
Propagation time measuring means for measuring the propagation time of the pulse signal and the reflected signal, and a distance from the imaging means to the subject is specified based on the measurement result measured by the propagation time measuring means, and the specified distance Distance specifying means for supplying a drive signal as a drive signal to the focus drive unit of the imaging means,
The automatic tracking imaging apparatus according to claim 1, further comprising:

The subject capturing means,
Signal receiving means for receiving a pulse signal transmitted from the subject side,
Reception intensity measurement means for measuring the intensity of the pulse signal received by the signal reception means,
Based on the measurement result measured by the reception intensity measuring means, specifies the direction in which the subject is located, and direction specifying means for supplying the specified direction as a drive signal to the pan / tilt driving unit of the imaging means,
Received power measuring means for measuring the received power of the pulse signal,
Based on the measurement result measured by the received power measuring unit, a distance from the imaging unit to the subject is specified, and the specified distance is supplied as a drive signal to the focus driving unit of the imaging unit as a driving signal.
The automatic tracking imaging apparatus according to claim 1, further comprising:

The automatic tracking means,
Storage means for storing color information indicating a very small amount of color of at least a portion of the subject, and angle-of-view information indicating a relationship between a size of the portion and a size of the entire subject.
Subject position detection means for detecting the position of the subject in an image captured by the imaging means with reference to the color information stored in the storage means;
With reference to the angle of view information stored in the storage means, angle of view determining means for determining the angle of view so that the subject is represented at a predetermined position in the captured image occupying a predetermined range,
Control means for controlling the driving of the focus drive section and the pan / tilt drive section of the imaging means based on the angle of view determined by the angle of view determination means;
The automatic tracking imaging apparatus according to any one of claims 1 to 3, further comprising:

An automatic tracking imaging method for automatically tracking and capturing an image of a target subject by driving control of a pan / tilt drive unit and a focus drive unit of an imaging unit,
A subject capturing step of capturing a target subject by the imaging unit;
An automatic tracking step of maintaining the subject captured by the subject capturing step in an image captured by the imaging unit;
An automatic tracking imaging method comprising:

The subject capturing step includes:
A signal transmitting step of transmitting a pulse signal;
A signal receiving step in which the pulse signal receives a reflected signal reflected by the subject,
Receiving intensity measuring step of measuring the intensity of the reflected signal received in the signal receiving step,
Based on the measurement result measured in the reception intensity measurement step, the direction in which the subject is located is specified, and a direction specifying step of supplying the specified direction as a drive signal to the pan / tilt drive unit of the imaging unit,
Propagation time measuring step of measuring the propagation time of the pulse signal and the reflected signal,
A distance specifying step of specifying a distance from the imaging unit to the subject based on the measurement result measured in the propagation time measuring step, and supplying the specified distance as a drive signal to a focus driving unit of the imaging unit;
The automatic tracking imaging method according to claim 5, further comprising:

The subject capturing step includes:
A signal receiving step of receiving a pulse signal transmitted from the subject side,
A reception intensity measurement step for measuring the intensity of the pulse signal received in the signal reception step;
Based on the measurement result measured in the reception intensity measurement step, the direction in which the subject is located is specified, and a direction specifying step of supplying the specified direction as a drive signal to the pan / tilt drive unit of the imaging unit,
A received power measuring step of measuring the received power of the pulse signal,
Based on the measurement result measured in the received power measurement step, a distance from the imaging unit to the subject is specified, and the specified distance is supplied as a drive signal to the focus drive unit of the imaging unit as a drive signal.
The automatic tracking imaging method according to claim 5, further comprising:

The automatic tracking step includes:
A subject position detecting step of detecting a position of the subject in an image captured by the imaging unit by referring to color information indicating a very small amount of color of at least a part of the subject stored in advance;
The angle of view is determined such that the target object is represented at a predetermined position in the captured image by occupying a predetermined range with reference to the angle of view information indicating the relationship between the partial size and the entire size of the object stored in advance. Angle of view determination step,
A control step of controlling the driving of a pan / tilt drive unit and a focus drive unit of the imaging unit based on the angle of view determined in the angle of view determination step;
The automatic tracking imaging method according to any one of claims 5 to 7, comprising: