JP2006060532A - Relay controller and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily and surely combine character information with a source image obtained by imaging contents of a sport game. <P>SOLUTION: Attribute information showing attributes of respective wearers of a radio tag is respectively associated with a wearer identifier for identifying the respective wearers and is stored in a database. The position of each player in a pitch is specified on the basis of the electric field intensity of radio waves transmitted by a radio tag worn by a player performing a game in the pitch. Furthermore, when a certain one or a plurality of players are determined to advance into an imaging area of a relay source image inputted from a television camera, attribute information of the advancing players is combined with the relay source image. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a relay control device.

Conventionally, various techniques for supporting relay work of sports such as baseball and soccer have been proposed. For example, Patent Documents 1 and 2 disclose such techniques. Patent Document 1 discloses an automatic video shooting system that optimizes automatic tracking by a television camera by using a signal received from a transmitter carried by a player. Patent Document 2 discloses that
There has been disclosed a video distribution apparatus that distributes images obtained by capturing the same subject from different viewpoints while switching the images according to the viewer's preference.
JP 2003-274257 A JP 2003-179908 A

By the way, in today's sports broadcast, it is common to appropriately synthesize and broadcast character information supplementing the content to a source image obtained by capturing the sports competition content. The character information combined with the source image is often the name, profile and past results of the competitors appearing in the image.
However, since the athletes appearing in the source image and their status change from moment to moment, each time the source image changes, the task of selecting and synthesizing the most appropriate character information from the various text information prepared in advance It was not easy to carry out the work manually.
The present invention has been devised under such a background, and it is an object of the present invention to easily and reliably synthesize character information into a source image obtained by capturing sports competition contents.

A relay control apparatus according to a preferred aspect of the present invention includes a storage unit that stores attribute information representing attributes of each portable person of a wireless tag and a portable person identifier that identifies each of the portable persons, and a certain imaging Input means for inputting a relay source image obtained by imaging the area, a plurality of receiving means for receiving radio waves emitted from the radio tag, and the imaging area based on the reception status of the radio waves by each receiving means Determining means for individually determining the presence / absence of the entry of each portable person, and when the judging means determines that one or a plurality of portable persons have entered the imaging area, Attribute information associated with the carrier identifier is read from the storage means, and synthesizer means for synthesizing the read attribute information with the inputted relay source image.

The relay control apparatus according to another preferred aspect of the present invention is issued from the wireless tag and input means for inputting a relay source image obtained by imaging all or part of the movable area of the wireless tag carrier. A plurality of receiving means for receiving each of the received radio waves, an overhead view image generating means for generating an overhead view image representing an overhead view of the movable area, the reception state of the radio waves by the respective receiving means and the overhead view Based on the contents of the coordinate system set in advance with respect to the figure, the coordinate position on the overhead view corresponding to the position of each portable person in the movable area is specified, and the portable person is assigned to each of the specified coordinate positions. Plotting means for plotting each point or symbol indicating the presence of the image, and synthesis means for synthesizing the inputted relay source image and the overhead view image on which the point or symbol is plotted.

In this aspect, the image processing apparatus may further include outer periphery drawing means for drawing the outer periphery of the imaging area of the input relay source image on the overhead view image.
Further, a trajectory drawing means for drawing a trajectory representing the transition of the coordinate position specified during a predetermined time length on the overhead view image may be further provided.

According to another preferred aspect of the present invention, there is provided a program that stores attribute information indicating attributes of each carrier of a wireless tag and a carrier identifier that identifies each of the carriers in association with each other, and a certain imaging The reception state of the radio wave by each receiving means in a computer device comprising an input means for inputting a relay source image obtained by imaging the area and a plurality of receiving means for receiving radio waves emitted from the wireless tag. A determination function for individually determining the presence / absence of the entry of each of the mobile users into the imaging area, and when the determination function determines that one or more mobile users have entered the imaging area. Then, the attribute information associated with the carryer identifier of the entered portable person is read out from the storage means, and the combining function for combining the read attribute information with the inputted relay source image is realized.

According to another preferred aspect of the present invention, a program includes an input unit that inputs a relay source image obtained by imaging all or a part of a movable area of a wireless tag carrier, and a radio wave emitted from the wireless tag. A top view image generation function for generating an overhead view image representing an overhead view of the movable area, and a reception state of radio waves by each of the reception means. And a coordinate position on the bird's-eye view corresponding to an existing position in the movable area of each portable person based on the contents of the coordinate system set in advance for the bird's-eye view and A plotting function for plotting each point or symbol indicating the presence of the user and a composition function for synthesizing the inputted relay source image and the overhead view image on which the point or symbol is plotted are implemented. Make.

(First embodiment)
A first embodiment of the present invention will be described.
The feature of this embodiment is that the attribute information of the athlete reflected in the relay source image is automatically synthesized and distributed to the relay source image obtained by imaging the sports competition. .

In the following description, “stadium” means a facility that is a soccer competition venue. This stadium has a “pitch”, which is the area where the competitors run the lawn, and a “stand”, which is an area where seats for the spectators to sit, and relay equipment. The following description will be given on the assumption that it has at least a “relay booth” that is an installed one-stroke.

FIG. 1 is an overall configuration diagram of a relay system according to the present embodiment. As shown in the figure, this system includes television cameras 10a to 10h, wireless readers 20a to 20l, wireless tags 30a to 30v, a switcher device 40, and a relay control device 50.
Among these devices, the television cameras 10a to 10h are each fixed at a predetermined position in the stand where a preset imaging area can be stored in a frame. The wireless readers 20a to 20l are respectively installed at a total of 12 locations, 4 locations outside the touch lines of the pitch and 2 locations outside the goal lines.

FIG. 2 is a diagram illustrating an installation state of the television cameras 10a to 10h and the wireless readers 20a to 20l in the stadium. In this figure, an area sandwiched by a pair of chain lines extending radially from each of the television cameras 10a to 10h represents an imaging area set for the television cameras 10a to 10h. In the present embodiment, by assigning individual imaging areas to the plurality of television cameras 10a to 10h and performing imaging while fixing the imaging areas, the state within the pitch can be visualized without difficulty.
The wireless tags 30a to 30v are embedded in a sole portion of a shoe worn by each of 22 athletes in the pitch.
The switcher device 40 and the relay control device 50 are installed in the relay booth and managed by the relay staff.

Each device shown in FIG. 1 will be described in further detail.
The television camera 10 supplies the switcher device 40 with the relay source image obtained by imaging the imaging area assigned to itself.
The wireless tag 30 includes a power source, a control IC chip, a memory storing a unique ID, and the like (not shown), and transmits the ID read from its own memory as a radio wave.

The wireless reader 20 supplies the relay control device 50 with a pair of the ID transmitted from the electronic tag 30 carried by each athlete in the pitch and the electric field strength when the ID is received.
The switcher device 40 is a computer device having a plurality of image input interfaces and one image output interface, and selects any one input interface according to an operator's switching operation, and is input from the selected image input interface. A set of incoming relay source images and a camera identifier indicating the television camera 10 capturing the image is output from the image output interface to the outside. The set of the output relay source image and camera identifier is immediately input to the relay control device 50.

The relay control device 50 is a computer device that manages editing and distribution of a relay source image.
FIG. 3 is a hardware configuration diagram of the relay control device 50. As shown in the figure, the relay control device 50 includes a CPU 51 that controls the operation of the entire device, a RAM 52 that is used as a work area for the CPU 51, a ROM 53 that stores an IPL (initial program loader),
A hard disk 54, a computer display 55, a mouse 56, a keyboard 57, an image input interface 58, and an image output interface 59 are provided.
The hard disk 54 stores a player information database 54a, an imaging area management database 54b, and a relay control program 54c.

FIG. 4 is a data structure diagram of the player information database 54a. This database
A collection of records, each corresponding to a single player. One record constituting this database has two fields of “competitor” and “attribute”. The same ID as that stored in the memory of the wireless tag 30 carried by each competitor is stored in the “competitor” field. The attribute information of each competitor is stored in the “attribute” field. The attribute information means information indicating the attributes of each competitor, such as name, age, height, weight, home prefecture, and representative selection history. As will be described in detail later in the explanation of the operation, the relay source image input from the switcher device 40 is distributed to the viewer after combining the attribute information of the athlete reflected in the image. It has become.

FIG. 5 is a data structure diagram of the imaging area management database 54b. This database is an aggregate of a plurality of records each corresponding to one television camera 10 installed on a stand. One record constituting this database has two fields of “television camera” and “imaging area”. In the “TV camera” field, the camera identifier of each TV camera 10 is stored. In the “imaging area” field, functions defining the outer peripheries of the imaging areas of the television cameras 10a to 10h when the pitch spread is expressed by a predetermined two-dimensional coordinate system are stored.

By executing the relay control program 54c while using the RAM 52 as a work area, the CPU 51 is provided with the following two characteristic functions.
a determination function This is based on the presence / absence of each competitor entering the imaging area of the relay source image input from the switcher device 40 based on the contents of each pair of electric field strength and ID supplied from the wireless reader 20 It is a function to judge to.
b Attribute information composition function This is a function for reading out the attribute information of the athlete determined to have entered the imaging area from the athlete information database 54a and synthesizing the read attribute information with the relay source image.

Next, the operation of this embodiment will be described.
The operation of this embodiment is divided into a wireless tag state management process and an attribute information synthesis process.
FIG. 6 is a flowchart showing the wireless tag state management process. When this process is started, the CPU 51 of the relay control device 50 forms a wireless tag state management table in the RAM 52 (S100).

FIG. 7 is a data structure diagram of the RFID tag state management table. This table is a collection of a plurality of records, each corresponding to one player in the pitch. One record constituting this table has two fields of “competitor” and “leader”. The same ID as that stored in the memory of the wireless tag 30 carried by each competitor is stored in the “competitor” field. The “reader” field is divided into 12 fields corresponding to each of the wireless readers 20a to 20l installed around the pitch, and the electric field strength supplied from each of the wireless readers 20 is stored. It has become.

After the wireless tag state management table is formed in the RAM 52, when a pair of ID and electric field strength is supplied from any of the wireless readers 20a to 20l, the CPU 51 assigns the same ID as that included in the pair "competitor". ”Is specified from the RFID tag state management table (S110).

Subsequently, the CPU 51 stores the field strength included in the pair in the field corresponding to the wireless reader 20 that is the supplier of the pair of ID and field strength among the 12 fields of “reader” in the specified record. (S120). For example, when a pair of ID and electric field strength is supplied from the wireless reader 20a, the electric field strength is stored in the “reader a” field.

Each time the CPU 51 receives a pair of ID and electric field strength from the wireless readers 20a to 20l,
By executing the processing from step 110 to step 120 in real time, the stored contents of the “reader” field in each record of the RFID tag state management table are updated as needed.

FIG. 8 is a flowchart showing attribute information synthesis processing. This process is executed every time a set of a relay source image and a camera identifier is input in parallel with the wireless tag state management process.
When the set of the relay source image and the camera identifier is input, the CPU 5 of the relay control device 50
1 stores the set in the RAM 52 (S200).

The CPU 51 identifies a record storing the same camera identifier stored in the RAM 52 in the “television camera” field from the imaging area management database 54b, and is stored in the “imaging area” field of the identified record. The function is read into the RAM 52 (S210).
Subsequently, the CPU 51 identifies one of the records constituting the wireless tag state management table as a processing measure (S220). This identification is performed in ascending order.

The CPU 51 specifies the electric field strengths up to the third highest from the strongest field strength stored in the “leader” field in the record specified in step 220 (S230).
Further, by analyzing the contents of the three electric field strengths identified in step 230, the wireless tag 3 with the ID stored in the “competitor” field of the record currently being processed is recorded.
The presence position in the pitch of the player who carries 0 is specified, and coordinate data representing the specified presence position by a two-dimensional coordinate system is generated (S240).

The contents of this step will be specifically described. Since the strength of the electrolytic strength is generally inversely proportional to the distance between the wireless reader 20 and the wireless tag 30, a certain constant is assigned to each wireless reader 20.
It is possible to determine the distance from each of the wireless readers 20 to the wireless tag 30 that is the transmission source of the radio wave by acting on the electrolytic strength of the received radio wave.
Therefore, in step 240, for example, as shown in FIG. 9, the distance obtained by converting the three electric field strengths specified in step 230 is set as the radius, and the radio readers (FIG. 9) supplied with these electric field strengths, respectively. In the example of FIG. 9, a circle centering on the position of the wireless readers 20d, e, and f is used. Then, the coordinate data of the point P where the circumferences of the three circles formed intersect is obtained and output.

The CPU 51 captures the relay source image on the RAM 52 based on the result of applying the coordinate data generated in Step 240 to the function read in Step 210.
It is determined whether or not a player has entered the imaging area (S250).
When the determination result in step 250 is “YES”, the CPU 51 determines in step 220.
The record having the same storage content in the “competitor” field as the record specified in (2) is specified from the athlete information database 54a (S260).

Then, the attribute information stored in the “attribute” field of the identified record is stored in the RAM.
The data is read to 52 (S270).
The CPU 51 determines the combination position of the attribute information in the relay source image stored in the RAM 52 (S280). The composite position in this step is determined by referring to a table in which each coordinate in the imaging area of each TV camera and a position in the frame in which the competitor located at each of these coordinates is reflected are associated in advance. Is done by.
The CPU 51 synthesizes a character string representing the attribute information read in step 270 at the position determined in step 280 (S290).

When step 290 is executed or when the determination result in step 250 is “NO”, C
The PU 51 determines whether a record that is not a processing target remains in the wireless tag state management table (S300). If there remains a record that is not subject to processing, the process returns to step 220 to identify another record from the wireless tag state management table, and the subsequent processing is executed.
When the above-described series of processing is completed for all records in the wireless tag state management table, the CPU 51 outputs a relay source image in which a character string representing attribute information is combined to the outside from the output interface.

FIG. 10 is a diagram illustrating an example of a relay source image in which a character string of attribute information is combined. In this figure, eight athletes are reflected in the frame, and character strings representing respective attribute information are synthesized in the background area below the athletes. This means that, as a result of the determination in step 250 for each record in the RFID tag state management table, it is determined that eight athletes have entered the imaging area.
The output relay source image is distributed to each viewer via a broadcast center (not shown).

In the present embodiment described above, when the relay source image is input from the switcher device 40, the relay control device 50 specifies the imaging area of the television camera that generated the relay source image, and which is in the imaging area. It is determined based on the reception state of the radio wave from the wireless tag 30 carried by each athlete whether the athlete has entered. Then, the attribute information of the athlete determined to have entered the imaging area is combined with the relay source image and distributed. Therefore, it is possible to easily and surely identify a player who should be reflected in the image without performing complicated image analysis processing on the input relay source image, and to synthesize the attribute information in real time.
Moreover, since the wireless tag 30 is embedded in the sole portion of the shoe worn by each athlete, the position of each athlete in the pitch can be tracked in real time without interfering with the athlete itself.
Furthermore, it is possible to automatically collect and broadcast the video of the player, or selectively collect and watch only the scenes of the favorite player.

(Second Embodiment)
A second embodiment of the present invention will be described.
In the above embodiment, the relay control device 5 that acquired the relay source image from the switcher device 40.
0 is configured to synthesize and distribute the attribute information of the competitors entering the imaging area of the relay source image. On the other hand, in the present embodiment, an overhead view image in which the positional relationship of each player on the pitch is plotted is generated, and the overhead view image is synthesized with the relay source image and distributed.

The hard disk 54 of the relay control device 50 according to the present embodiment does not store the player information database 54a, and the imaging area management database 54b and the relay control program 5
4c is stored. The CPU 51 that executes the relay control program 54c is given the following three functions.
c. Overhead View Map Generation Function This is a function for generating an overhead view image that represents the entire pitch by a two-dimensional coordinate system.
d Position plot function This is to identify the coordinate position on the bird's-eye view corresponding to the position of each competitor based on the contents of each pair of electric field strength and ID supplied from the wireless reader 20, and the specified coordinate position It is a function that plots a symbol indicating the presence of the competitor in each of the above.
e Area Peripheral Drawing Function This is a function for drawing a chain line that divides the outer periphery of the imaging area of the currently input relay source image in the overhead view image.
f Overhead View Map Synthesis Function This is a function for combining the overhead view image with the relay source image.

Next, the operation of this embodiment will be described.
The operation of the present embodiment can be divided into a wireless tag state management process, an overhead view image generation process, and an overhead view image synthesis process.
The contents of the wireless tag state management process are the same as in the first embodiment.
FIG. 11 is a flowchart showing an overhead view image generation process. This process is performed in parallel with the wireless tag state management process. When this process is started, the CPU of the relay control device 50
51 generates an overhead view image (S400).

FIG. 12 is an overhead view image. This image shows a bird's-eye view of the entire surface of the pitch, which is an area in which the athlete can move during the competition, and both inside the rectangle surrounded by the goal lines 81 and 82 and the touch lines 83 and 84. A center line 85 connecting the midpoints of the touch lines 83 and 84, a center circle 86 centering on the midpoint of the centerline 85, rectangles 87 and 88 representing the goal area, rectangles 89 and 9 representing the penalty area
0, penalty circles 91 and 92 are drawn.

The CPU 51 that has generated the overhead view image determines whether any of the records constituting the RFID tag status management table formed in the RAM 52 has been updated by the RFID tag status management process described above (S410).
When the determination result in step 410 is “YES”, the CPU 51 identifies the updated record as a processing target (S420).
The CPU 51 specifies, as an analysis target, the top three electric field strengths counted from the strongest among the electric field strengths stored in the “leader” field in the record specified in step 420 (S430).

Further, by analyzing the contents of the three electric field strengths identified in step 430, the wireless tag 3 with the ID stored in the “competitor” field of the record currently being processed is recorded.
The position of the player who carries 0 is specified in the pitch, and coordinate data representing the specified position is generated (S440).
The CPU 51 plots a symbol indicating the presence of the player at the coordinate position on the overhead view indicated by the generated coordinate data (S450).

The above-described series of processing is repeated each time the record of the wireless tag state management table is updated, so that an overhead view image in which symbols indicating the real-time existence positions of all the players in the pitch are continuously generated is generated. become.
FIG. 13 is an example of a bird's eye view image at a certain time point when step 450 is executed. In the bird's eye view image shown in this figure, the positions of the 22 athletes in the pitch are plotted as symbols in which the athlete's number is circled.

FIG. 14 is a flowchart showing an overhead view image synthesis process.
This process is executed each time a set of a relay source image and a camera identifier is input via the image input interface 58.
When the set of the relay source image and the camera identifier is input, the CPU 5 of the relay control device 50
1 stores the set in the RAM 52 (S500).
The CPU 51 identifies a record storing the same camera identifier stored in the RAM 52 in the “television camera” field from the imaging area management database 54b, and is stored in the “imaging area” field of the identified record. The function is read into the RAM 52 (S510).

CPU51 specifies the outer periphery of an imaging area based on the read function, and draws the chain line which divides this outer periphery on the bird's-eye view image in the state where the symbols of all the players are plotted by the bird's-eye view image generation process. (S520).
The CPU 51 combines the overhead view image on which the chain line is drawn with the relay source image stored in the RAM 52, and outputs it from the output interface to the outside (S530).

FIG. 15 is a diagram illustrating an example of a relay source image obtained by combining overhead view images. In this figure, a bird's-eye view image in which symbols indicating the presence of all the players are plotted is synthesized in a display area that occupies a lower left portion of the relay source image. In this overhead view image, a chain line indicating that the currently displayed relay source image is obtained by imaging the imaging area of the TV camera 10c shown in FIG. 2 is drawn. Yes.
In the present embodiment described above, when the relay source image is input from the switcher device 40, the relay control device 50 synthesizes the overhead view image in which the current positions of all the players in the pitch are plotted with the relay source image. And then it comes to deliver. Therefore, the viewer can simultaneously grasp the positional relationship between the players in the entire pitch including the imaging area while viewing the relay source image obtained by imaging the contents of the specific imaging area in the pitch. .

(Other embodiments)
The present invention can be modified in various ways.
For example, in the above embodiment, the wireless tag 30 is embedded in each athlete's shoe, but this may be sewn to each athlete's clothes.
In the second embodiment, symbols indicating the presence of each competitor are plotted in real time at the coordinate positions on the bird's-eye view corresponding to the location of each competitor in the pitch. The coordinate position where each symbol is plotted was changed in real time along with the movement of the player in the pitch. On the other hand, the coordinate position of each player plotting the symbol is stored in a predetermined area in the RAM 52, and when a play that requires later verification such as offside or score is born, You may make it draw the transition of the coordinate position of all the competitors plotted during the predetermined time length as a locus on the bird's-eye view image. Such a variant not only allows viewers to understand the positioning and quality of movements that are directly involved in offside and scoring, but is also directly involved in such play. Since it is possible to understand the positioning, free running, movement of attracting opponents, etc. of other competitors who were not, it is possible to provide deeper relay content.
Although the said embodiment demonstrated the example which applied this invention to the soccer, you may apply this invention to the relay of other sports, such as American football and rugby.

1 is an overall configuration diagram of a relay system. It is a figure which shows the installation state of a television camera and a wireless reader. It is a hardware block diagram of a relay control apparatus. It is a data structure figure of a player information database. It is a data structure figure of an imaging area management database. It is a flowchart which shows a wireless tag state management process. It is a data structure figure of a wireless tag state management table. It is a flowchart which shows an attribute information synthetic | combination process. It is a figure explaining specification of a player's position. It is a figure which shows the relay source image with which the attribute information was synthesize | combined. It is a flowchart which shows a bird's-eye view image generation process. It is a bird's-eye view image. It is a bird's-eye view image. It is a flowchart which shows an overhead view image synthetic | combination process. It is a figure which shows the relay source image by which the bird's-eye view image was synthesize | combined.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Television camera, 20 ... Wireless reader, 30 ... Wireless tag, 40 ... Switcher apparatus, 50
... Relay control device, 51 ... CPU, 52 ... RAM, 53 ... ROM, 54 ... Hard disk,
55 ... Computer display, 56 ... Mouse, 57 ... Keyboard, 58 ... Image input interface, 59 ... Image output interface

Claims (6)

Storage means for storing attribute information representing the attributes of each portable person of the wireless tag and a portable person identifier for identifying each portable person,
Input means for inputting a relay source image obtained by imaging in a certain imaging area;
A plurality of receiving means for receiving radio waves emitted from the wireless tag,
Determining means for individually determining the presence / absence of each of the users entering the imaging area based on the reception state of the radio wave by each receiving means;
When it is determined by the determining means that one or more carriers have entered the imaging area, the attribute information associated with the carrier identifier of the entering user is read from the storage means, and the read attribute A relay control apparatus comprising: a combining unit configured to combine information with the input relay source image; Input means for inputting a relay source image obtained by imaging all or a part of the movable area of the wireless tag carrier;
A plurality of receiving means for receiving radio waves emitted from the wireless tag,
An overhead view image generation means for generating an overhead view image representing an overhead view of the movable area;
The coordinates on the bird's-eye view corresponding to the location of each person in the movable area based on the reception state of the radio wave by each receiving means and the contents of the coordinate system set in advance for the bird's-eye view A plotting means for identifying a position and plotting points or symbols indicating the presence of the carrier at each of the identified coordinate positions;
A relay control apparatus comprising: a combining unit that combines the input relay source image and the overhead view image on which the points or symbols are plotted. In the relay control device according to claim 2,
The relay control device further comprising outer periphery drawing means for drawing the outer periphery of the imaging area of the input relay source image on the overhead view image. In the relay control device according to claim 3,
A relay control device further comprising trajectory drawing means for drawing a trajectory representing a transition of a coordinate position specified during a predetermined time length on the overhead view image. Storage means for storing attribute information representing the attributes of each portable person of the wireless tag and a portable person identifier for identifying each portable person,
Input means for inputting a relay source image obtained by imaging in a certain imaging area;
A computer device comprising a plurality of receiving means for receiving radio waves emitted from wireless tags,
A determination function for individually determining the presence / absence of each of the users entering the imaging area based on the reception state of the radio wave by each of the receiving means;
When it is determined by the determination function that one or a plurality of mobile users have entered the imaging area, the attribute information associated with the mobile user identifier of the mobile user who has entered is read from the storage means, and the read attribute And a composition function for compositing information with the inputted relay source image. Input means for inputting a relay source image obtained by imaging all or a part of the movable area of the wireless tag carrier;
A computer device comprising a plurality of receiving means for receiving radio waves emitted from wireless tags,
An overhead view image generation function for generating an overhead view image representing an overhead view of the movable area;
The coordinates on the bird's-eye view corresponding to the location of each person in the movable area based on the reception state of the radio wave by each receiving means and the contents of the coordinate system set in advance for the bird's-eye view A plotting function that identifies a position and plots a point or symbol indicating the presence of the carrier at each of the identified coordinate positions;
A program for realizing a composition function for synthesizing the input relay source image and the overhead view image on which the points or symbols are plotted.

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