JP2005184266A - Imaging device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an imaging device for clipping a part of a high definition image under automatic control in which the image size does not deviate from a remarked object and the image can be clipped accurately. <P>SOLUTION: The imaging device comprises an imaging means 11, a remarked point detecting means 12, a remarked point detection state acquiring means 13, and an image clipping means 23. The remarked point detecting means 12 detects a remarked point arranged at a predetermined position with respect to a remarked object among images photographed by the imaging means 11. The remarked point detection state acquiring means 13 acquires the state (e.g. error state) where the remarked point detecting means 12 detects a remarked point. The image clipping means 23 clips a part of a photographed image accurately by performing automatic alteration control of an image clip range being set for a remarked point detected by the remarked point detecting means 12 depending on the detection state of the remarked point detection state acquiring means 13. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an imaging apparatus that controls a cut-out size according to a detection state such as an error when cutting an image following an object of interest.

  Conventionally, when an image is picked up following an attention target person, it is necessary to change the direction of the camera and the imaging size as the attention object moves in order to pick up the attention target person. However, the direction of the camera is changed by hand in a handheld camera, and in a large camera, the camera is rotated around a camera stand such as a caster.

  In addition, the imaging size is changed by operating the lens, or by moving the camera operator with the camera in order to change the distance between the target object and the camera.

  Conventionally, there has also been disclosed a technique of an apparatus that performs image processing on a target person of interest from an imaging signal and cuts out and outputs an image including the target person of interest. In this technology, the target person of interest is specified by performing image processing on the signal of the camera that captures the specific marker worn by the target person of interest, but if the target person hides the marker, Problems such as the inability to detect the subject were likely to occur.

  By the way, there has been disclosed an apparatus that displays information obtained wirelessly and information captured by a camera. For example, Patent Document 1 describes that a position information image of a game ball and each player and an image photographed by a camera are displayed on the same screen.

  Further, as a camera that follows the attention point, there is a camera that discloses a camera that controls the camera platform by following the attention point. For example, Patent Document 2 describes that a video conference system or the like can automatically track a subject such as a speaker and can freely designate a portion to be viewed from a remote place.

  On the other hand, high-definition cameras for still images and moving images have advanced, and a wide imaging area such as 8 million pixels can be densely resolved and captured.

  When shooting at a soccer broadcast or the like, the camera operator performs panning for changing the direction of the camera, zooming for enlargement / reduction, or the like for shooting when the target object being shot moves.

  Of course, it is difficult to shoot various scenes, such as in a soccer broadcast, where one camera can only shoot from one direction when shooting at a predetermined position.

  Although the problem can be solved by shooting with a plurality of cameras, it is necessary that one operator be attached to each camera.

On the other hand, in Patent Document 3, for example, in an imaging apparatus in which a finder optical system and a photographing optical system are separately provided, a subject image captured by an image sensor of the finder optical system and a subject image displayed on a display unit are disclosed. It is described that the range of image signals to be displayed on the display means can be accurately selected by controlling the correspondence between the image signals, and the parallax between the viewfinder optical system and the photographing optical system can be eliminated.
Japanese Patent Laid-Open No. 10-314357 Japanese Patent Laid-Open No. 08-046943 Japanese Patent Publication No. 08-13099

  However, in any of the above-mentioned patent documents, an optimum region for a desired target object is automatically captured, and various reproduced images including an enlarged image of the target object in the captured image are displayed with a simple operation. There was nothing I could do.

  Accordingly, a first object of the present invention is to solve the above-mentioned problems, and to change the imaging direction and size automatically without the operation and effort of the camera operator, and at high speed, which is difficult for human operation. An image pickup apparatus that can change the position and size of an area to be imaged automatically and at high speed as the point of interest moves, mainly when shooting with a fixed camera. .

  A second object of the present invention is to provide an imaging device capable of cutting out an image following a target object and performing so-called enlarged display.

  Furthermore, a third object of the present invention is to provide an imaging apparatus that can not only automatically follow and output a target object in a moving image but also output a cut-out image of the vicinity of the target object in a still image. It is.

  Furthermore, a fourth object of the present invention is to provide an image size that is cut out when configuring an imaging apparatus that automatically controls and cuts out a part of an image from a high-definition image acquired from a high-definition camera, for example. It is an object of the present invention to provide an imaging device capable of performing accurate cutout without removing a target.

  An imaging apparatus according to the present invention includes an imaging unit that captures an image, and an attention point detection unit that detects an attention point arranged at a predetermined position with respect to the target object from the images captured by the imaging unit. The attention point detection means includes attention point detection state acquisition means for acquiring the state of attention point detection, and image extraction means for cutting out a part of the image photographed by the imaging means. The image cutout range set for the attention point detected by the attention point detection means is controlled to be changed according to the detection state of the attention point detection state acquisition means.

  According to the present invention, the image extraction range is automatically changed and controlled according to the detection state (for example, error state) in which the attention point detection unit detects the attention point. It is possible to accurately cut out the image of the position.

  In the present invention, the attention point detection state acquisition unit includes a storage unit that holds an error estimation amount of a detection position of the attention point detected by the attention point detection unit, and the attention point detection state acquisition unit obtains the attention point according to the error estimation amount. On the other hand, it further has an attention object position estimation means for estimating the position of the attention object at a fixed position, and the image extraction means extracts the attention object at the position estimated by the attention object position estimation means. It is characterized by cutting out.

  In the present invention, the target object position estimating means estimates the position of the target object based on movement information of the target object, and the image cutout means is photographed by the imaging means according to the movement information of the target object. It is characterized in that a range for cutting out a part of the processed image is changed.

  In the present invention, the target object position estimating unit is configured to estimate the position of the target object based on the moving speed information of the target object, and the imaging timing process of the imaging unit and the detection timing of the target object position estimating unit. And a change in the output of the target object position estimating means.

  In the present invention, the attention point detection means includes a sensor, and the positional relationship between the sensor and the attention object is known, and the attention object estimation means based on the positional relationship is the attention object. The position of the object is estimated, and the image cutout means cuts out the target object.

  In the present invention, the target object estimation unit is characterized in that the error estimation amount of the detected position of the target point detected by the target point detection unit is a measurement error estimation amount of the sensor.

  In the present invention, the target object position estimating means estimates the position of the target object using the actual size of the target object and the actual distance from the target point, and the image cutout means is the estimated target object. A range for cutting out a part of an image photographed by the imaging means is changed based on information on an object.

  In the present invention, the target object position estimating unit sets a size of the target object in a moving direction of the target object, and the image cutout unit cuts out a part of an image photographed by the imaging unit. Is largely changed in a direction along the moving direction rather than a direction perpendicular to the moving direction of the target object.

  In the present invention, the attention point detection means detects the position of the attention point using radio waves.

  In the present invention, the attention point detecting means detects the position of the attention point using sound waves.

  In the present invention, the attention point detecting means detects the position of the attention point by performing image processing on an image photographed by the imaging means.

  In the present invention, the attention point detection unit further includes a parameter holding unit that holds a parameter of the moving direction of the target object, and the target object is detected by the parameter holding unit with respect to the imaging unit. When it is detected that the object is moving so as to approach, the image cutout range by the image cutout means is expanded with the detection position of the target object as the center.

  In the present invention, the attention point detection unit further includes a parameter holding unit that holds a parameter of the moving direction of the target object, and the target object is detected by the parameter holding unit with respect to the imaging unit. When it is detected that the object is moving away, the image extraction range by the image extraction means is reduced with the detection position of the target object as the center.

  According to the present invention, it is possible to change the imaging direction and size automatically without the operation and effort of the camera operator, and to enable the change at high speed, which is difficult for human operation. When shooting with, the position and size of the area to be imaged can be automatically and rapidly changed as the point of interest moves.

  Further, according to the present invention, an image can be cut out following the target of interest, and so-called enlarged display can be performed.

  Furthermore, according to the present invention, it is possible not only to automatically follow a target of interest in a moving image, but also to output a cut-out image of the vicinity of the viewer in a still image.

  Furthermore, according to the present invention, for example, when configuring an imaging apparatus that automatically controls and cuts out a part of an image from a high-definition image acquired from a high-definition camera, the cut-out image size excludes the target of attention. It is possible to perform accurate cutout without any problems.

Embodiments of the invention will be described with reference to the drawings.

  In the embodiment of the present invention, as a method for automatically changing the camera direction and the imaging size without a camera operator, for example, a high-definition camera is fixedly used, and an area in which a target object is imaged is cut out and output. The imaging apparatus which comprises is comprised.

  However, when the target object moves, the measurement error that occurs due to the time difference between the detection position at the time of detection and the detection time, and the time to cut out the image from the captured image according to the detection result, or the target object moves Even if the object is stationary without being detected, there is a problem in that the desired region of the target object cannot be cut out and output due to the measurement error of the detection means such as a sensor. The measurement error is an error value defined in advance under various conditions such as an error (for example, 10 m for GPS) described in a specification of the detection unit, and the like. It is 3σ defined from the standard deviation value of the error. Therefore, it is difficult to measure the actual error between the actual position and the position based on the sensor detection result in real time.

  Therefore, in the present embodiment, for example, when a part of an image is automatically controlled and cut out from a high-definition image from a high-definition camera, the above problem is solved, and the position and size of the cut-out image It is possible to provide an imaging apparatus capable of accurately cutting out an image without deviating the desired position and range.

FIG. 1 is a block diagram illustrating the configuration of the image pickup apparatus according to the first embodiment of the present invention.
First, terms used in the first embodiment and the following embodiments are defined.
-Target object: Indicates an object, a person, or a part of the object, a person, or a part to be captured and output by the camera.

-Attention point: A point included in the attention object or in the vicinity of the attention object, and indicates a detection target of a detection unit such as a sensor described later. For example, when the target object is a person and the person wears a position detection sensor, the position of the sensor is the target point. It is not limited to a point, and may have a predetermined range depending on the detection method.

Field: A space (area) in which position information including the target object can be detected, and refers to one coordinate system in which the relative position of the target point with respect to a predetermined reference position in this space can be calculated as position information. For example, when the position of a target object is detected using a GPS receiver as a sensor, the entire earth is a field. Further, in the case of measuring the position of a focused soccer player in a soccer game on the stadium, the soccer field corresponds to the field.

-Imaging area: Indicates the imaging area for each camera. Moreover, it is in the field of view of the camera, and further indicates an area where the degree of focus adjustment in the optical system of the camera is not less than a predetermined level. As a general rule, it refers to an imaging region when imaging in a field.

  The image pickup apparatus shown in FIG. 1 includes an image pickup unit 11 including a camera for picking up an image, and an attention point arranged at a predetermined position with respect to an object of interest from among images captured by the image pickup unit 11. Attention point detection means 12 for detecting the attention point, attention point detection state acquisition means 13 for acquiring the state in which the attention point detection means 12 detects the attention point, and a part of the image photographed by the imaging means 11 is cut out. An image cutout unit 23 and a cutout image output unit 24 that outputs a cutout image signal are provided. The image cutout unit 23 sets an image cutout range to be set for the attention point detected by the attention point detection unit 12. The change control is performed according to the detection state of the attention point detection state acquisition means 13.

  The attention point detection state acquisition unit 13 includes an error estimation information storage unit 14 that holds an error estimation amount of the detection position of the attention point detected by the attention point detection unit 12, and attention is paid according to the error estimation amount. The target object position estimation means 15 for estimating the position of the target object at a fixed position with respect to the point is further included, and the target object at the position estimated by the target object position estimation means 15 Is cut out by the image cutout means 23.

  The imaging means 11 images the field space and outputs a moving image signal. The point of interest detection means 12 detects the position of the point of interest in the field of interest on the field.

  The cut-out center position setting unit 18 receives position information on a point of interest on the field from the point-of-interest detection means 12 (for example, if a soccer player wears a sensor at the belt position, indicates the position of the sensor) and a target of interest described later. An image sensor (for example, CCD) plane (for example, a light receiving element array such as a predetermined number of photodiodes) based on distance information from a detection means (sensor) stored in the object designating unit 21 to a cut-out position (for example, a player's face). (The plane represented by the number of vertical x horizontal imaging pixels) is obtained. The cut-out center position information is represented by vertical and horizontal pixel (dot) positions on the image sensor plane.

  The error estimation information storage unit 14 stores in advance a measurement error of a detection unit (sensor) used in the attention point detection unit 12 and a temporal error caused by the movement of the attention point.

  The error estimation information storage unit 14 stores in advance the measurement error information of the attention point detection means 12, and is described in the specification of the detection means (sensor) used for the attention point detection means 12 (for example, an error of 10 m in the GPS sensor). The measurement error information storage unit 16 of the attention point detecting means for storing in advance the estimated error as an estimation error, and the temporal estimation error associated with the movement of the attention point. At the time of attention point detection and at the time of imaging, the time error between the time of attention point detection and the time of imaging (including the time error between the time of attention point detection and the time of imaging when not moving) is stored in advance. The time difference information storage unit 17 is provided.

  The target object position estimating means 15 includes a cut-out center position setting unit 18, a cut-out center error prediction unit 19, an error prediction unit 20 accompanying movement, a target object specifying unit 21, and a cut-out size setting unit 22. Have.

  The extraction center position setting unit 18 is based on the detection position of the attention point on the field from the attention point detection means 12 and the distance information to the attention point (sensor) and the extraction position stored in advance in the attention object specifying unit 21. Then, the cut-out center position on the image sensor plane is calculated.

  The cut-out center error prediction unit 19 is based on the measurement error of the detection means (sensor) stored in advance in the error estimation information storage unit 14 and information on the distance from the camera to the attention point detected by the attention point detection means 12. An error value of the cut-out center position on the image sensor plane is predicted.

  The error predicting unit 20 accompanying the movement includes a time error generated by the movement stored in the time difference information storage unit 17 at the time of attention point detection and imaging, and change information of the movement state detected by the point of interest detection means 12. Based on the above, an error value (for example, an error value) accompanying the movement is predicted.

  The target object specifying unit 21 stores in advance the distance and direction from the position of the target point (sensor) attached to the target object to the actual cutout position on the field.

  The cut-out size setting unit 22 stores in advance the measurement error information of the attention point detection means (sensor) stored in advance in the measurement error information storage unit 16 and the time difference information storage unit 17 at the time of attention point detection and imaging. The cutout size is controlled in accordance with the estimation error information accompanying the movement of a certain point of interest. For example, the cutout size is controlled so that the cutout size is increased and the target of interest is included as the estimation error increases. .

  The image cutout unit 23 receives the moving image signal from the image pickup unit 11, and based on the coordinate information included in the cutout center position information from the cutout center position setting unit 18 and the cutout size information from the cutout size setting unit 22. The moving image signal is controlled so that the cut size is automatically changed and cut out, and the cut out image is output. The cut-out image output means 24 outputs the cut-out moving image signal having a predetermined image size in a predetermined signal format and a predetermined level.

  In the above configuration, the cut-out size is controlled according to the measurement error information of the detection means (sensor) stored in advance in the measurement error information storage unit 16, while the time difference information storage unit 17 at the time of attention point detection and imaging. The presumed error information associated with the movement of the point of interest and the speed of movement of the point of interest are estimated in accordance with the estimated error information associated with the movement of the point of interest and the extraction size is controlled. When controlling the cutout size, the cutout size is set so that the target of interest is included by increasing the cutout size as the estimation error increases, for example, as the moving speed increases. As a result, the cut-out size is too narrow and the target object is out of the cut-out image, so that a cut-out image that does not include the target object is not output, or the cut-out size is too wide and the enlargement rate of the target object is low. Therefore, it is possible to realize an imaging apparatus that can reduce the cut-out size as much as possible and does not remove the target object.

  The attention object position estimation means 15 estimates the position of the attention object using the actual size of the attention object and the actual distance from the attention point, and the image cutout means 23 estimates the position of the attention object. Based on the information, it is possible to change the range in which a part of the image photographed by the imaging means 11 is cut out.

  Further, the target object position estimating unit 15 sets the size of the target object to be large in the moving direction of the target object, and the image cutout unit 23 sets a range in which a part of the image captured by the imaging unit is cut out. It is possible to greatly change in the direction along the moving direction rather than the direction perpendicular to the moving direction of the target object.

  The point of interest detection means 12 may detect the position of the point of interest using radio waves or sound waves. Alternatively, the attention point detection unit 12 may detect the position of the attention point by performing image processing on the image captured by the imaging unit 11. At that time, for example, a marker of a predetermined color is attached to a predetermined position of the target object, and the marker is detected from the image using the color information.

  The point-of-interest detection unit 12 further includes a parameter holding unit that holds a parameter of the moving direction of the target object, and the target object moves so as to approach the imaging unit 11 by the parameter of the parameter holding unit. When it is detected that the image has been detected, the image extraction range by the image extraction means 23 can be expanded with the detection position of the target object as the center. Alternatively, when it is detected by the parameters of the parameter holding unit that the target object is moving away from the imaging unit 11, the target point detection unit 12 determines the target object detection position. As a center, it is possible to reduce the image extraction range by the image extraction means 23.

  FIG. 2 is a block diagram showing the configuration of the image pickup apparatus according to the second embodiment of the present invention, and shows a more specific configuration example of the first embodiment in FIG. 3 and 4 are block diagrams showing a configuration example of the imaging means in FIG. 2, FIGS. 5 and 6 are diagrams showing the imaging target area of the imaging target, and FIGS. 7 and 8 are the entire image and measurement error of the captured image. FIG.

  The second embodiment shows an embodiment in which the attention point detecting means detects the position by receiving a plurality of radio waves such as GPS.

In FIG. 2, the imaging apparatus includes an imaging unit 11, an attention point detection unit 12 </ b> A including an accuracy improvement unit, a measurement error information storage unit 16 of the attention point detection unit, and an attention target position designation unit for the attention point 21, coordinate conversion means 25, time difference information storage unit 17 at the time of attention point detection and imaging, cut-out center position setting unit 18, position designation error estimation unit 26, error estimation unit 20A accompanying movement, The total error calculation unit 22A, a cutout vertical & horizontal size setting unit 22B, an image cutout unit 23, and a cutout image output unit 24 are configured.
The imaging means 11 images the field space and outputs a moving image signal and imaging area information. FIG. 3 shows a first configuration example of the imaging means 11, and FIG. 4 shows a second configuration example of the imaging means 11.

  The imaging unit 11 shown in FIG. 3 has a photographic lens unit 111 that condenses a subject image on an imaging surface, and photoelectric conversion that is focused on the entire area on the imaging element plane and outputs it as a moving image signal for each pixel. An image sensor 112 that is an element, an A / D conversion circuit 113 that converts a moving image signal captured by the image sensor 112 into a digital signal, and a drive that drives the image sensor 112 with timing pulses including a synchronization signal. And a circuit 114.

  On the other hand, the imaging unit 11 shown in FIG. 4 performs a photoelectric conversion on the entire area on the imaging element plane, and a photographing lens unit 111 that collects the subject image on the imaging surface, and outputs it as a moving image signal for each pixel. An image sensor 112 that is an image pickup device, an A / D conversion circuit 113 that converts a moving image signal picked up by the image sensor 112 into a digital signal, and a timing drive pulse including a synchronization signal. A drive circuit 114 that drives and a memory unit for n screens that outputs a moving image signal delayed by n screens of the moving image signal output from the image sensor from the A / D conversion circuit 113 (control of writing and reading) 115) and the memory portion 115 for n screens based on the timing driving pulse from the driving circuit 114 as a second timing driving pulse including a synchronization signal. And it is configured to include a drive circuit 116 for driving, the.

  The memory unit 115 for the n screens described above is a moving image signal delayed by n screens of the moving image signal output from the image sensor, and adjusts n so as to be a delay corresponding to the time delay of the attention point detection unit 12. Thus, a moving image signal is output. That is, in the configuration example shown in FIG. 4, when a sensor that requires a certain amount of calculation time for position detection, such as GPS (abbreviation of Global Positioning System), is used as the attention point detection unit 12A. It can be used as a configuration for eliminating a time lag between a captured image detected at a point and position detection information causing a time delay.

  The attention point detection means 12A is a means for detecting position information of a sensor by a sensor attached to the attention object such as GPS, or a position detection means without attaching a sensor or the like to the attention object. The detection result of the attention point detection means 12A is position information of the attention point in the field coordinates (sometimes size information may be included). However, the present invention is not limited to this. Instead of the attention point detection unit 12A and the coordinate conversion unit 251, a detection unit that detects the position of the attention point in the image by performing image processing on the captured image may be provided. Good.

  In addition, in order for the attention point detection unit 12A to detect the attention point by the sensor, it is necessary to configure a receiver or a transmitter expressed as a base station in addition to the sensor in the attention point detection unit 12A. When the base station is a transmitter, the sensor serves as a receiver to detect a sensor position corresponding to the position of the base station. When the base station is a receiver, the sensor serves as a transmitter to detect a sensor position corresponding to the position of the base station.

  The attention point detection means 12A includes, for example, a GPS receiver and a transmitter that transmits three-dimensional position information of latitude, longitude, and height calculated by the GPS receiver.

  However, position detection is not limited to GPS. A method for specifying position information by triangulation using wireless radio waves such as a wireless LAN, a position detection method used for touch panels such as sound and light including ultrasonic waves as well as radio waves, detection accuracy, imaging area There are various methods depending on the size of the. You may combine a GPS system and the other position detection method mentioned above.

  In addition, the accuracy improving unit 12A-1 included in the attention point detecting unit 12A performs, for example, position information detection a plurality of times within a predetermined time in order to improve the position accuracy of the detected position information. It is means for improving accuracy, for example, by averaging multiple pieces of position information to increase accuracy.

  As a means for improving accuracy other than the averaging method of multiple position information, in the case of a moving attention point, the direction of movement can be improved by detecting the direction of movement with a gyro etc. it can.

  The position specifying unit 21 of the target object of the point of interest is a setting unit that specifies the positional relationship of the target object with respect to the GPS position that is the target point. For example, when a GPS receiver and a transmitter are mounted in the middle of the belt and the cutout position of the target object is a human face, the target target position specifying unit 21 for the target point of interest has a target point (sensor). The position of the face with respect to the middle position of a certain belt is designated as the distance and direction in the field coordinates.

  As a specific example, as shown in FIG. 5, an actual size of 40 cm in length and 30 cm in width is specified around a point of 40 cm in the height direction. The position information of the target object set by the position specifying unit 21 of the target object of the point of interest has been described as being set by the actual size, but the present invention is not limited to this. When the imaging method or the like is fixed in advance, the number of pixels in the imaging region (image region) on the imaging element plane may be used without being limited to the actual size as described above. It is easier and faster to set the position of the target object by setting the number of pixels rather than setting the actual size.

  As described in FIG. 1, the measurement error information storage unit 16 of the point of interest detection unit stores in advance measurement accuracy determined according to the characteristics of the point of interest detection unit 12A (such as an error of 10 m for GPS). It is.

  The time difference information storage unit 17 at the time of attention point detection and at the time of imaging is accompanied by the movement of the attention point based on the difference between the imaging delay information from the imaging means 11 and the attention point detection delay information from the attention point detection means 12A. This is for storing a temporal estimation error that does not occur, and for storing the time difference information in the storage means in advance.

  The storage means of the measurement error information storage unit 16 and the time difference information storage unit 17 may be various storage means such as a ROM, a flash memory, and a hard disk. Alternatively, user input may be allowed.

  The coordinate conversion means 25 includes distance information and movement information on the field space from the attention point detection means 12A, the measurement error information storage section 16 of the attention point detection means, and the position designation section 21 of the target object of interest. The image sensor is converted into the plane coordinates of the image sensor, and is converted into coordinates represented by the number of pixels in the image area. In FIG. 2, the coordinate conversion unit 25 performs coordinate conversion of the position information of the target point from the target point detection unit 12A, and movement information (speed, direction) of the target point from the target point detection unit 12A. From the coordinate conversion unit 252 that performs the coordinate conversion, the coordinate conversion unit 253 that performs the coordinate conversion of the measurement error from the measurement error information storage unit 16 of the attention point detection unit, and the position designation unit 21 of the target object of interest as the target point of interest And a coordinate conversion unit 254 that converts the distance information to the cut-out position of the point of interest.

  The cut-out center position setting unit 18 includes the position information of the target point on the field coordinates detected by the target point detection unit 12 and the distance from the detection unit (sensor) stored in advance in the target object specifying unit 21 to the cut-out position. Based on the information, cut-out center position information on the image sensor plane coordinates is obtained.

  The error estimation unit 20A associated with the movement includes time difference information stored in advance in the time difference information storage unit 17 at the time of attention point detection and imaging, and the speed and direction in which the point of interest detected by the attention point detection unit 12A moves. In accordance with the imaging area information obtained from the imaging means 11, error estimation associated with movement is performed.

  The position specifying error estimating unit 26 is based on the actual distance information from the detection means (sensor) stored in advance in the target object specifying unit 21 to the center position (cutout position) of the target object. Estimate the error of the upper image cutout position.

  The total error calculation unit 22A stores in advance the estimation error from the error estimation unit 20A accompanying the movement, the estimation error from the position specifying error estimation unit 26, and the measurement error information storage unit 16 of the attention point detection unit. Comprehensive estimation error information is calculated and output based on the measurement error information of the point of interest detection means.

  The cutout vertical & horizontal size setting unit 22B generates and outputs vertical and horizontal size information of the cutout image based on the estimated error information calculated by the total error calculation unit 22A, and supplies the generated information to the image cutout unit 23.

  The image cutout unit 23 applies to the entire image pickup area of the image pickup unit 11 based on the cutout center position information from the cutout center position setting unit 18 and the cutout vertical and horizontal size information from the cutout vertical & horizontal size setting unit 22B. The area of the part to be cut out is designated and cut out. The entire image area is indicated by x and y coordinates, the coordinates (x0, y0) of the center pixel of the image cutout area, the top and bottom cutout sizes (xc, yc) to be cut out are designated, and the image from the image pickup signal of the image pickup means 11 Is cut out and output. The cut-out image area has upper left coordinates (x0−xc / 2, y0 + yc / 2) and lower right coordinates (x0 + xc / 2, y0−yc / 2).

  The cut-out image output means 24 outputs the cut-out moving image signal having a predetermined image size in a predetermined signal format and a predetermined level.

Next, the function and effect will be described.
In the embodiment of the present invention, as a method of automatically changing the camera direction and the imaging size without a camera operator, an imaging apparatus that fixes and uses a high-definition camera and cuts out and outputs an area in which a target object is imaged is output. It is realized. However, when the target object moves, the measurement error caused by the time difference between the position at the time of detection and the time of detection and the time to cut out the image from the captured image according to the detection result, or the target object moves Even if it is stationary, there is a problem that it is impossible to capture the desired region of interest with the cut-out image due to the measurement error of the detection means such as a sensor. In addition, there is a problem that it is difficult to measure the actual error between the actual position and the position based on the detection result in real time. .

  FIG. 6 shows a plurality of sensors (such as GPS) arranged in the field and an error area for each sensor. The description will be made assuming that the error accuracy is 5 m and an error indicated by a circle of 5 m is generated in a plane parallel to the ground. Here, the description will be made assuming that there is no height error, but the present invention is not limited to this.

  FIG. 7 shows an image in the imaging scene shown in FIG. Each player's A, B, C ring-shaped curve is the error area of each player. In the error area, as in the subject size, the influence in the image of the error area becomes smaller as the distance from the camera is longer.

  In FIG. 8, in the embodiment of the present invention, the measurement error of the position information output from the sensor 121 as the detection means, the performance of the sensor and the measurement means are known in advance, the estimation error is acquired, and the estimation error range is shown. The relationship for controlling the cutout size of the image is shown in consideration of the above.

  When the face is set as the cutout position with respect to the position of the sensor 121 attached to the belt position for the player C, the symbol J indicates the cutout position and size when there is no error. When the position calculation (detection) is performed by the sensor 121 (for example, GPS), the symbol H indicates the sensor detection position actually calculated (detected), and the detection position H (that is, H is a reference value). ) Shows a face cutout position (range) I and its center position I1 when there is no error. Then, the estimation error accompanying the movement from the error estimation unit 20A accompanying the movement, the measurement error from the measurement error information storage unit 16 of the attention point detecting means, and the target position of interest (cutting out of the attention point) from the position specifying error estimation unit 26 Based on the (position) estimation error, the total error calculation unit 22A obtains the estimation error, and the image cutout means 23 obtains a cutout image region K in which the cutout size is changed according to the estimation error, and performs cutout.

  According to an embodiment of the present invention, an image pickup apparatus that automatically controls and cuts out a part of an image from a high-definition image from a high-definition camera, and the size of the cut-out image does not detract from the target of attention. It is possible to realize an imaging device that can be cut out smoothly.

  As described above, the following error may occur when setting the image cutout region.

1) Error between the set imaging target area and the actual area 2) Measurement error = Error when detecting the position with GPS (indicating an error in the output result of the accuracy improving means)
3) An error caused by a time difference between the time of measurement that occurs due to the movement of the target of interest and the time of capturing an image to be cut out 4) Including the error due to the accuracy of the calculation in each means, etc. Thus, in consideration of various errors, the imaging target is surely captured, and control is performed so that the entire imaging target is included in the cut-out image.

  Further, the error changes every moment according to the distance from the camera of the point of interest.

  Therefore, the target object position estimating means detects the above various errors every moment, and controls the image cutout size according to the total error.

  Further, the distance in the image between the detection position and the center of the cutout position when there is no error differs depending on the distance from the camera to the sensor, and the measurement error is also different.

  Therefore, the distance between the camera and the sensor is measured, the error in the image of the measurement error is calculated according to the distance, and the optimum cutout area is set.

  Although the attention point detection means has shown an example using GPS, it is not limited thereto. As a modification of the point of interest detection means, of course, position detection using sound or light instead of radio waves may be used. Various methods for detecting the touch position of the touch panel are also effective, and may be a pressure sensor or the like.

  The point of interest may be detected by performing signal processing based on the image signal output from the imaging means in FIG. At that time, a marker of a predetermined color is attached to the belt of the player who is the object of interest, and the marker is detected from the image using the color information. The measurement error in this case can be suppressed slightly.

  Also, a method of detecting the position of a point of interest with another camera that is not the imaging means is also conceivable.

  Furthermore, the output of the clipped image is not limited to a moving image, and may be a still image.

  When shooting a target object with a still image camera, a sensor such as GPS is attached to the target object, and when a shutter button is pressed, a clipped image showing the target object can be output. It is possible to leave an image in which the target object is magnified accurately. Moreover, even if it is not fixed, even if it is suitable camera work, it can be copied without removing the target object.

  The image pickup apparatus of the present invention can be applied to a still image camera, a moving image camera, or a camera capable of shooting both still images and moving images, and cuts out and outputs a part of image pickup data following the subjects of these cameras. It should be a device having a captured image processing function (also displaying) and a captured pixel recording function.

1 is a block diagram illustrating a configuration of an imaging apparatus according to a first embodiment of the present invention. FIG. 5 is a block diagram illustrating a configuration of an imaging apparatus according to a second embodiment of the present invention. The block diagram which shows the structural example of the imaging means in FIG. The block diagram which shows the other structural example of the imaging stage in FIG. The figure which shows the imaging object area | region of imaging object. The figure which shows the error area for every sensor of a some sensor. The figure which shows the measurement error (error area) of the image in perspective relation in the whole image of a captured image. The figure which shows the relationship which changes and controls the cutout size of an image in consideration of an estimation error range.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... Imaging means 12 ... Attention point detection means 13 ... Attention point detection state acquisition means
14 ... Error estimation information storage unit 15 ... Target object position estimation means 16 ... Image cut-out means
Agent Patent Attorney Susumu Ito

Claims (13)

An imaging means for capturing an image;
Attention point detection means for detecting an attention point arranged at a predetermined position with respect to the target object from the image photographed by the imaging means;
Attention point detection state acquisition means for acquiring the state where the attention point detection means detects the attention point;
Image cutting means for cutting out a part of the image taken by the imaging means,
The imaging apparatus, wherein the image cutout unit changes and controls an image cutout range set for a target point detected by the target point detection unit according to a detection state of the target point detection state acquisition unit. The attention point detection state acquisition unit includes a storage unit that holds an error estimation amount of a detection position of the attention point detected by the attention point detection unit, and a certain amount of the attention point is determined according to the error estimation amount. A target object position estimating means for estimating a position of the target object at a position;
The imaging apparatus according to claim 1, wherein the target object at the position estimated by the target object position estimating unit is cut out by the image cutting unit. The target object position estimating means estimates the position of the target object from the movement information of the target object,
The imaging apparatus according to claim 2, wherein the image cutout unit changes a range of cutting out a part of an image shot by the imaging unit according to movement information of the target object. The target object position estimating means, when estimating the position of the target object from the moving speed information of the target object,
The imaging apparatus according to claim 3, wherein a time difference between an imaging timing process of the imaging unit and a detection timing of the target object position estimating unit and a change in output of the target object position estimating unit are detected.   The attention point detection means includes a sensor, and the positional relationship between the sensor and the attention object is known, and the attention object estimation means determines the position of the attention object based on the positional relationship. The imaging apparatus according to claim 2, wherein the image cutting unit estimates and cuts the target object.   The imaging apparatus according to claim 5, wherein the target object estimation unit is configured such that an error estimation amount of the detection position of the target point detected by the target point detection unit is a measurement error estimation amount of the sensor. .   The target object position estimating means estimates the position of the target object using the actual size of the target object and the actual distance from the target point, and the image cutout means is the estimated position information of the target object. The imaging apparatus according to claim 2, wherein a range in which a part of an image photographed by the imaging unit is cut out is changed based on the above.   The target object position estimating means sets the size of the target object to be large in the moving direction of the target object, and the image cutout means is a range for cutting out a part of the image taken by the image pickup means, The imaging apparatus according to claim 2, wherein the imaging apparatus is largely changed in a direction along a moving direction rather than a direction perpendicular to the moving direction of the target object. The imaging apparatus according to claim 2, wherein the attention point detection unit detects a position of the attention point using radio waves. The imaging apparatus according to claim 2, wherein the attention point detection unit detects a position of the attention point using sound waves. The imaging apparatus according to claim 2, wherein the attention point detection unit detects a position of the attention point by performing image processing on an image captured by the imaging unit. The attention point detection means further includes parameter holding means for holding a parameter of the moving direction of the target object, and the target object moves so as to approach the imaging means by the parameter of the parameter holding means. 2. The image pickup apparatus according to claim 1, wherein, when it is detected that the image is cut, an image cut-out range by the image cut-out unit is expanded with a detection position of the target object as a center. The attention point detection unit further includes a parameter holding unit that holds a parameter of the moving direction of the target object, and the target target object moves away from the imaging unit by the parameter of the parameter holding unit. 2. The imaging apparatus according to claim 1, wherein, when it is detected that an image is being detected, an image extraction range by the image extraction unit is reduced with a detection position of the target object as a center.

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