JP2006165744A - Imaging device and imaging method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To photograph the desired angle of viewing as a whole, without missing even when a photographing device fitted having an angle of elevation is panned. <P>SOLUTION: The photographing device installed in a designated place has a means of measuring the angle of displacement of the photographing device on the azimuth axis; a means of measuring an angle of displacement of the photographing device on the elevation axis; a means of controlling the attitude of the photographing device according to the angles of displacement measured by the azimuth axis displacement angle measuring means and elevation axis displacement angle measuring means; a means of inputting a requested angle of view for photography; a means of computing an angle of photographic view, from the photographic requested angle of view inputted from the input means; a means of inputting the angle of view found by the photographic view angle arithmetic means, including a photographic optical system as the angle of view of a photographic image; a means of measuring an angle of displacement of the photography optical system on an optical axis; and a means of generating a corrected image from the angle of displacement measured by the optical axis displacement angle measuring means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an image processing method and apparatus for an image picked up by an installed photographing apparatus.

Even if the panning is performed after the neck is tilted up in the installed photographing device, the actual visible position moves like drawing an arc as shown in FIG. I will do it. Therefore, it is necessary to correct the captured image, but the following (1) and (2) have been proposed as techniques for correcting the captured image. Also, a technique shown in (3) has been proposed as a technique for transmitting the horizontal direction to the user.
(1) A technology is known in which the imaging device has a three-axis drive mechanism, and each has a gyro that detects an angular velocity, thereby realizing space stabilization installed on a moving body (see Patent Document 1). ).
(2) Among three axes of the image pickup apparatus, a technique is known that realizes stabilization of image shaking by using image conversion for rotation around the optical axis without depending on a driving mechanism (see Patent Document 2). .
(3) Display the horizontal reference and the tilt angle of the shooting screen on the shooting screen based on the angle data obtained from the attitude detection device (see Patent Document 3).

JP-A-2-073103 JP-A-10-126676 JP 2002-271654 A

  However, in the conventional method, when a panning operation is performed in an imaging device attached with an elevation angle, it is impossible to take an image without losing the entire desired angle of view, or even if possible, it becomes a very large-scale device. End up. For example, in the above-mentioned Patent Document 1, it is realized by mounting a camera elevation angle direction, an azimuth angle direction, a rotation direction around the optical axis of a camera optical system, and three drive mechanisms. The weight will also be heavy. This also increases the cost.

  In Patent Document 2, the rotation around the optical axis is realized by image conversion without depending on the driving mechanism. However, since the processing is performed after photographing with a displacement angle around the optical axis, it is desired. Some of the captured images are missing as information.

  Further, in Patent Document 3, the horizontal direction is displayed to the user, but the reference line that can be displayed is the display of the reference line when the posture of the camera is horizontal.

  In view of the above, an object of the present invention is to solve such problems and to capture an image without missing the entire desired angle of view even when a panning operation is performed in an imaging apparatus attached with an elevation angle.

  In order to solve the above-mentioned object, the present invention measures a displacement angle around the azimuth axis of the imaging device and a displacement angle around the elevation axis of the imaging device in an imaging device installed at a specific location. Means for controlling the attitude of the photographing apparatus from the displacement angle measured by the displacement angle measuring means and the elevation angle displacement angle measuring means, the means for inputting an angle of view requesting photographing, and the input Means for calculating a shooting angle of view from a shooting request angle of view input from the means, means for inputting the angle of view obtained by the shooting angle of view calculation means including the shooting optical system, and the shooting optical system Means for measuring the displacement angle around the optical axis, and means for generating a correction image from the displacement angle measured by the displacement angle measurement means around the optical axis.

  Further, the present invention provides a photographing apparatus installed at a specific location, a means for measuring a displacement angle around the azimuth axis of the photographing apparatus, a means for measuring a displacement angle around the elevation axis of the photographing apparatus, and the azimuth Means for controlling the attitude of the photographing apparatus from the displacement angle measured by the axial displacement angle measuring means and the elevation angle measuring means, means for inputting an angle of view for requesting photographing, and photographing input from the input means Means for calculating a shooting angle of view from the required angle of view, means for inputting the angle of view obtained by the shooting angle of view calculation means including the shooting optical system as the angle of view of the shot image, and input from the required angle of view input means And a means for determining a horizontal direction from the reference in the horizontal direction, and a means for generating a corrected image from a displacement angle at the time of photographing with the reference.

  Furthermore, the present invention provides a photographing device installed at a specific place, a step of measuring a displacement angle around the azimuth axis of the photographing device, a step of measuring a displacement angle around the elevation axis of the photographing device, and the azimuth The step of controlling the attitude of the photographing apparatus from the displacement angle measured in the step of measuring the displacement angle around the shaft and the step of measuring the displacement angle around the elevation axis, the step of inputting the angle of view for requesting photographing, and the photographing input from the input step A step of calculating a shooting angle of view from a required angle of view; a step of inputting the angle of view obtained by the shooting angle of view calculation step including the shooting optical system as a field angle of a shot image; and an optical axis of the shooting optical system. The method includes a step of measuring a displacement angle and a step of generating a correction image from the displacement angle measured by the displacement angle measurement step around the optical axis.

  According to the present invention, even when panning is performed in an imaging apparatus that does not have a drive mechanism in the rotation direction around the optical axis that is attached with an elevation angle, it is possible to capture an image without missing the entire desired angle of view.

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

[Embodiment 1]
The apparatus according to the present embodiment is an imaging apparatus that is installed at a specific installation location such as a ceiling and performs imaging. A process of photographing a region including a circular region whose diameter is a diagonal of a desired angle of view at the time of photographing, and correcting the image so that the horizontal direction of the photographed image comes out correctly depending on the detected posture of the photographing device. Do.

<Configuration of the entire photographing device>
The configuration of the photographing apparatus of the present embodiment will be described using the block diagram of FIG. In FIG. 2, the photographing apparatus of the present embodiment includes an input device 0 where a user remotely performs operations such as panning, tilting, and zooming, a display device 9 that displays an image captured by a camera unit, and a display device that captures an image. It is comprised from the camera part 10 which outputs to.

  Here, the configuration in the camera unit 10 will be described.

  The shooting angle-of-view calculating unit 1 receives a signal from the input device 0 and determines the angle of view in a rectangular area including a circle whose diameter is a diagonal of the angle of view desired by the user. The image input unit 2 includes an image sensor such as a CCD or a CMOS sensor and an image processing unit for sending an image to the correction image generation unit 7 in a state where the correction image generation unit 7 can process the image. The attitude control unit 3 has two drive mechanisms, ie, a rotation direction around the elevation axis and a rotation direction around the azimuth axis, and controls the attitude of the photographing apparatus from information from the elevation angle displacement measurement unit 5 and the azimuth angle displacement measurement unit 6. The rotation angle displacement measurement unit 4, the elevation angle displacement measurement unit 5, and the azimuth angle displacement measurement unit 6 are respectively in the rotation angle direction (around the optical axis), the elevation angle direction (around the elevation axis), and the azimuth angle direction (around the azimuth axis). The displacement angle from the reference point is measured, and is realized using, for example, an inclinometer, an angular velocity meter, and an angular accelerometer.

  The corrected image generation unit 7 performs rotation correction on the image captured by the image input unit 2 so that the horizontal direction of the captured image comes out correctly based on information from the rotation angle displacement measurement unit 4. Regarding the rotation correction, the transformation for rotating F (x, y) to G (xy) can be expressed by the equation shown in Equation 1 using the equation of the rotation matrix. θ is a displacement angle in the rotation angle direction.

補正画像生成部７内には、撮影した画角の情報を保持する記憶部１４を持つ。撮影した画角を記憶部１４に保持して、Ｆ（ｘ，ｙ）の画素情報を式１の座標変換後の座標Ｇ（ｘ，ｙ）での画素情報に変更する。画像出力部８では補正画像生成部７から受け取った画像を出力画像のタイミング制御等、表示装置９の処理可能な状態にして表示装置９に出力する。

The corrected image generation unit 7 has a storage unit 14 that holds information on the shot angle of view. The captured angle of view is held in the storage unit 14, and the pixel information of F (x, y) is changed to the pixel information at the coordinate G (x, y) after the coordinate conversion of Equation 1. The image output unit 8 outputs the image received from the corrected image generation unit 7 to the display device 9 in a state that can be processed by the display device 9 such as output image timing control.

<Configuration of the shooting angle of view calculation unit>
FIG. 3 is a block diagram of the photographing field angle calculation unit 1 in the camera unit 10 of FIG. 2, which is a characteristic component of the present invention.

  When the input signal from the input device 0 is received by the input receiving unit 21, it is passed to the diagonal center calculation unit 22. The diagonal center calculation unit 22 obtains the center of the diagonal line from the received field information from the rectangular field angle desired by the user. The rectangle calculation unit 23 obtains a rectangle whose sides are four tangents parallel to the inputted rectangle side of a circle having a diameter of a diagonal line with the obtained center point as the center. The obtained rectangular information is transmitted from the output unit 24 to the image input unit 2. Information input from the user is transmitted to the corrected image generation unit 7.

  It is also possible to mount the shooting angle of view calculation unit with a CPU. A flowchart in that case is shown in FIG. An explanatory diagram of the processing is shown in FIG. The flow of processing will be described with reference to FIGS.

  When the input signal is received in step S101, the vertex of the rectangle 31 having the angle of view requested by the user is read in step S102. The intersection 32 of the diagonal of the rectangle is obtained from the vertex of the rectangle 31 of the angle of view read in step S103. In step S104, four tangents of the circle 33 centering on the intersection of the diagonal lines are obtained in parallel to the rectangular side of the angle of view requested by the user. In step S105, the intersection of four tangents is calculated. A rectangle 34 connecting these four points is an angle of view for photographing.

<Explanation of shooting angle of view>
FIG. 6 is an explanatory diagram of the angle of view of the captured image.

  The user performs operations such as pan, tilt, and zoom using the input device 0 to determine the angle of view. The angle of view determined by the user is 41. At this time, if the image is taken with the displacement angle θ shown in FIG. 6A in the direction of the rotation axis, the missing portion shown by the hatched portion 42 in FIG. Pixels are generated. For this reason, in the control device 1 of the present invention, when the user gives an instruction to shoot at the angle of view 41, the image is taken at the angle of view 44 including the circle 43 whose diameter is the diagonal line of the angle of view 41. Control (see FIG. 6C). As a result, even if the angle of view 41 is rotationally corrected by the displacement angle, the corrected angle of view 45 falls within the circle 43, so that it is possible to prevent the omission of the angle of view. The image is controlled to be taken at the angle of view 44. Since the shape of the CCD is usually rectangular, the rectangle including the circle 43 is used. However, if it is a circular CCD, the image may be controlled to be the circle 43.

  By performing the processing described above, even when a panning operation is performed in an imaging apparatus attached with an elevation angle, it is possible to capture an image without losing the entire desired angle of view.

  In the present embodiment, the calculation is performed with the displacement angle θ from the reference. However, even if the displacement angle θ calculated immediately before is stored in the storage unit 14 and the calculation is performed with the difference angle from the position. good. Since it is unlikely that the pan operation has an extreme displacement angle, it is possible to reduce the calculation load by having a conversion matrix of one specific angle and performing the calculation only when the angle is displaced by that angle.

  In the present embodiment, the input device and the display device have been described separately. However, they may be integrated. Further, as shown in the block diagram of FIG. 7, a configuration may be adopted in which the above-described correction image generation unit is provided on the display device side instead of the camera side and image correction processing is performed on the display device side. Since FIG. 7 is almost the same as FIG. 2, the same number is attached | subjected to the same element and description is abbreviate | omitted. In the figure, the input display device 13 includes an input unit 11, a corrected image generation unit 7, and a display unit 12. The functions of the input unit 11 and the display unit 12 are the same as those of the input device 0 and the display device 9.

[Embodiment 2]
In the first embodiment, the displacement angle from the reference point in the rotation angle direction (around the optical axis) is measured by a sensor or the like, but the image is displayed so that the horizontal direction of the photographed image is correctly displayed without using a measuring means. A photographing apparatus to be corrected will be described.

  FIG. 8 is a block diagram illustrating a configuration of the photographing apparatus according to the present embodiment. Since this figure is almost the same as FIG. 7 of the first embodiment, the same elements are denoted by the same reference numerals and description thereof is omitted.

  Assume that the input unit has means for determining whether or not it is horizontal. As a result, the process of correcting the image so that the horizontal direction of the photographed image appears correctly by detecting the tilt in the rotation angle direction (around the optical axis) by the user inputting the horizontal reference of the photographed image at the time of photographing. I do.

<Description of horizontal reference input>
FIG. 9 is an explanatory diagram for reference input in the horizontal direction. Here, it is assumed that the display device shown in FIG. 9 has a touch panel corresponding to the input unit 11 mounted on the display unit 12.

  When the user designates a horizontal portion desired to be a reference displayed on the screen 51 in FIG. 9 at the time of shooting, it is determined from the dot information on the touch panel whether the designated portion 52 is horizontal.

  By performing the processing described above, the same effect as in the first embodiment can be obtained without using a measuring means in the rotation angle direction (around the optical axis).

  Here, if an image recognition unit is further provided and a reference is stored, horizontal reference input is performed at the initial setting, such as when a photographing apparatus is installed, and the horizontal reference is designated every time photographing is performed. Annoyance can be eliminated. That is, the reference point is obtained by image recognition by simultaneously storing the displacement angle from the reference point in the elevation / elevation angle direction (around the elevation axis) and the azimuth angle direction (around the azimuth axis) when the reference is input and the reference point. By performing the matching, the image is corrected so that the horizontal direction of the photographed image appears correctly.

As a storage medium for storing the program in the above description, ROM, floppy disk, CD-ROM, hard disk, memory card,
A magneto-optical disk or the like can be used. The present invention can also be achieved by supplying a storage medium storing the program according to the present invention to a system or apparatus, and a computer of the system or apparatus reading and executing the program code stored in the storage medium. Is done.

It is a figure which shows the image which applied the pan after tilting the neck upwards with the imaging device installed with the elevation angle. It is a block diagram which shows schematic structure of the imaging device in Embodiment 1 of this invention. It is a block diagram which shows schematic structure of the imaging | photography field angle calculating part in the imaging device in Embodiment 1 of this invention. It is a flowchart which shows the flow of a process of the imaging | photography view angle calculating part in Embodiment 1 of this invention. It is explanatory drawing of the flow of a process of the imaging | photography field angle calculating part in Embodiment 1 of this invention. It is explanatory drawing of the imaging | photography angle of view in Embodiment 1 of this invention. It is a block diagram which shows schematic structure of another example of the imaging device in Embodiment 1 of this invention. It is a block diagram which shows schematic structure of the imaging device in Embodiment 2 of this invention. It is explanatory drawing of the reference input of the horizontal direction in Embodiment 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 0 Input device 1 Image | photographing view angle calculating part 2 Image input part 3 Posture control part 4 Rotation angle displacement measuring part 5 俯 Elevation angle displacement measuring part 6 Azimuth angle displacement measuring part 7 Correction | amendment image generation part 8 Image output part 9 Display apparatus 10 Camera part DESCRIPTION OF SYMBOLS 11 Input part 12 Display part 13 Input display apparatus 14 Memory | storage part 15 Horizontal judgment part 21 Input receiving part 22 Calculation part 23 Output part 31 User requested view angle 32 Intersection of diagonal line 33 Circle centering on intersection of diagonal line 34 Shooting view angle 41 User requested view angle 42 Pixel missing portion 43 Circle centered on intersection of diagonal lines 44 Shooting view angle 45 Corrected display view angle 51 Display screen 52 User-specified horizontal direction reference

Claims (10)

In a shooting device installed in a specific location,
Measured by means for measuring a displacement angle around the azimuth axis of the photographing device, means for measuring a displacement angle around the elevation axis of the photographing device, and a displacement angle measuring means around the azimuth axis and a displacement angle measuring means around the elevation axis. Means for controlling the attitude of the photographing apparatus from the displacement angle, means for inputting an angle of view for requesting photographing, means for calculating a photographing angle of view from the requested angle of view input from the input means, and a photographing optical system Means for inputting an angle of view obtained by the above-mentioned photographing angle of view calculation means, means for measuring a displacement angle around the optical axis of the photographing optical system, and displacement angle measuring means around the optical axis An imaging apparatus comprising means for generating a corrected image from the displacement angle measured by the step.   In the photographing field angle calculation means, means for calculating a midpoint of a diagonal line of the photographing request angle of view input from the photographing request angle of view input means, and a photographing request angle of view rectangle by a tangent of a circle centering on the middle point 2. The photographing apparatus according to claim 1, further comprising means for calculating a rectangle surrounded by a line parallel to the side of the image.   2. The photographing apparatus according to claim 1, wherein the corrected image generation means includes means for storing the correction image, and stores the displacement angle in the rotation angle direction in the immediately preceding calculation and calculates the difference. In a shooting device installed in a specific location,
Measured by means for measuring a displacement angle around the azimuth axis of the photographing device, means for measuring a displacement angle around the elevation axis of the photographing device, and a displacement angle measuring means around the azimuth axis and a displacement angle measuring means around the elevation axis. Means for controlling the attitude of the photographing apparatus from the displacement angle, means for inputting an angle of view for requesting photographing, means for calculating a photographing angle of view from the requested angle of view input from the input means, and a photographing optical system Means for inputting the angle of view obtained by the shooting angle of view calculation means including the angle of view of the photographed image, means for determining the horizontal direction from the reference of the horizontal direction input from the shooting angle of view input means, and the reference And a means for generating a corrected image from the displacement angle at the time of shooting.   A means for storing a horizontal reference inputted from the photographing request angle-of-view input means; and a means for recognizing the reference from the photographed image. The correction image generating means generates a correction image from the information in the storage means. The imaging apparatus according to claim 4, wherein: In a shooting device installed in a specific location,
Measured by measuring a displacement angle around the azimuth axis of the imaging device, measuring a displacement angle around the elevation axis of the imaging device, measuring a displacement angle around the azimuth axis, and measuring a displacement angle around the elevation axis A step of controlling the posture of the photographing apparatus from the displacement angle, a step of inputting an angle of view for requesting photographing, a step of calculating a photographing angle of view from the requested photographing angle of view input from the input step, and a photographing optical system A step of inputting the angle of view obtained by the step of calculating the angle of view of the image including the step of calculating the angle of view of the imaged optical system, a step of measuring a displacement angle around the optical axis of the imaging optical system, and a step of measuring the angle of displacement around the optical axis An imaging method comprising the step of generating a corrected image from the displacement angle measured by the step.   In the photographing view angle calculation step, a step of calculating a midpoint of a diagonal line of the photographing request angle of view rectangle input from the photographing request angle of view input step, and a photographing request angle of view rectangle by a tangent of a circle centering on the midpoint The imaging method according to claim 6, further comprising a step of calculating a rectangle surrounded by a line parallel to the side.   The imaging method according to claim 6, wherein the correction image generation step includes a step of storing the correction image inside, and storing the displacement angle in the rotation angle direction in the immediately previous calculation and calculating the difference. In a shooting device installed in a specific location,
Measured by measuring a displacement angle around the azimuth axis of the imaging device, measuring a displacement angle around the elevation axis of the imaging device, measuring a displacement angle around the azimuth axis, and measuring a displacement angle around the elevation axis A step of controlling the posture of the photographing apparatus from the displacement angle, a step of inputting an angle of view for requesting photographing, a step of calculating a photographing angle of view from the requested photographing angle of view input from the input step, and a photographing optical system A step of inputting the angle of view obtained by the step of calculating the angle of view of the image including the step of calculating the angle of view of the photographed image, a step of determining the horizontal direction from the reference of the horizontal direction input from the step of inputting the angle of view of the required image And a step of generating a corrected image from a displacement angle at the time of shooting.   The method includes a step of storing a horizontal reference input from the photographing request angle-of-view input step and a step of recognizing the reference from the photographed image, and generating a corrected image from the information of the storing step in the corrected image generating step. The imaging method according to claim 9.

Images