JP2012169714A - Imaging apparatus and imaging method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform high-precision fixed-point imaging by quickly reproducing imaging conditions in the previous imaging on the basis of an easy and standard processing procedure even when an imaging apparatus cannot be fixed for a long period of time during the fixed-point imaging.SOLUTION: An imaging condition acquisition section 146 of an imaging apparatus 100 acquires the previous imaging conditions including imaging desired plane position and optical axis azimuth angle. An imaging section 112 generates image data by imaging an object. A position sensor 120 detects a plane position of the imaging section. An azimuth angle sensor 122 detects an optical axis azimuth angle of the imaging section. An image cut-out section 152 cuts out partial image data corresponding to the previous imaging conditions on the basis of a difference between the previous imaging conditions and the present imaging conditions when the difference between the previous imaging conditions and the present imaging conditions on the basis of the position sensor and the azimuth angle sensor is within a predetermined range.

Description

  The present invention relates to an imaging apparatus and an imaging method capable of fixed-point imaging (fixed-point imaging) of a subject.

  There are cases where so-called fixed-point imaging (fixed-point imaging) is performed by using an imaging device such as a digital still camera or a digital video camera to record the growth process of a plant, or to record a change in scenery due to a change of seasons. In this fixed-point imaging, for example, using a tripod, the imaging device is fixed to a predetermined plane position, height, attitude angle of the imaging device, and a predetermined optical axis azimuth (optical axis azimuth), and a zoom function It is preferable to capture images with a fixed zoom magnification.

  However, in general users, their own imaging device is exclusively used for fixed-point imaging, and it is not practical to leave the imaging device fixed at a predetermined plane position or height for a long time. In practice, the fixed-point imaging is temporarily suspended during the period during which it is performed, and is also used for imaging other subjects. When fixed-point imaging is performed in consideration of such circumstances, the imaging conditions set for each imaging timing (planar position, optical axis azimuth, altitude, attitude angle, zoom magnification (image Corner) etc.) had to be reproduced, and a long time was spent on the setting.

  For example, in order to reproduce the imaging conditions, the previous image is output to photographic paper or the like, and the photographer manually compares the photographic paper with the image in the viewfinder and manually performs the same imaging as the previous time. It takes time and effort for the setting such as moving the imaging device so as to satisfy the conditions. In addition, in spite of the labor and time spent in this way, what is actually imaged often does not become the same image as the previous imaging, and there is a problem that a shift occurs.

  Therefore, the image at the previous imaging is superimposed on the current through image and displayed on the viewfinder, and the image at the previous imaging and the through image are guided so as to overlap, so that the imaging device can be aligned with the imaging device. A technique for manually performing is disclosed (for example, Patent Document 1). Also, on the assumption that the plane position and the optical axis azimuth angle at the previous imaging and the current imaging are the same, the optical axis shift due to temperature change is adjusted by the cutout position of the effective pixel range in the imaging device. A technique is also known (for example, Patent Document 2).

JP 2005-026872 A JP 2007-129414 A

  As described above, when the imaging apparatus cannot be fixed at a predetermined plane position for a long time, the imaging conditions must be reproduced in the state at the previous imaging at every imaging timing in fixed-point imaging. However, in the technique disclosed in Patent Document 1, since the photographer simply performs the manual alignment while viewing the viewfinder, the position of the previous captured image and the current through image is aligned with high accuracy. I could n’t fit them together. Further, the technique of Patent Document 2 is based on the premise that the planar position and optical axis azimuth of the imaging device are the same as those at the previous imaging. The position and the optical axis azimuth could not be corrected.

  In any case, there is a problem that the degree of coincidence with the previous image is limited only by manual alignment by the photographer through visual observation, and it is not possible to cope with high-precision fixed-point imaging. Also, whether the difference between the previous image and the current through image is due to the fixed position of the imaging state, such as the plane position or the optical axis azimuth, or due to the control of the imaging device such as zoom magnification It is difficult for the user to visually determine this, and processing for performing fixed-point imaging with high accuracy has not been standardized.

  Therefore, the present invention quickly reproduces the imaging conditions at the time of previous imaging based on an easy and uniform processing procedure even when the imaging device cannot be fixed for a long time during fixed-point imaging, and high-precision fixed-point imaging is achieved. An object of the present invention is to provide a possible imaging apparatus and imaging method.

  In order to solve the above-described problem, an imaging apparatus (100) that performs fixed-point imaging of a subject includes an imaging condition acquisition unit (146) that acquires a previous imaging condition including a planar position and an optical axis azimuth for which imaging is desired, An imaging unit (112) that images a subject and generates image data, a position sensor (120) that detects a planar position of the imaging unit, an azimuth angle sensor (122) that detects an optical axis azimuth angle of the imaging unit, If the difference between the previous imaging condition and the current imaging condition based on the position sensor and the azimuth sensor is within a predetermined range, the previous imaging condition is based on the difference between the previous imaging condition and the current imaging condition. And an image cutout unit (152) for cutting out partial image data corresponding to.

  In order to solve the above-described problem, another imaging apparatus (300) of the present invention that performs fixed-point imaging of a subject desires to capture the previous subject information indicating the position and size of the subject on which the imaging is desired and the imaging. An imaging condition acquisition unit (346) that acquires a previous imaging condition including a planar position and an optical axis azimuth angle, an imaging unit that images a subject and generates image data, and a position for detecting the planar position of the imaging unit A sensor, an azimuth angle sensor for detecting the azimuth angle of the optical axis of the imaging unit, the position and size of the subject on the screen indicated in the previous subject information, and the position and size of the subject in the current image data If the difference between the two is within a predetermined range, image segmentation that cuts out partial image data corresponding to the previous imaging condition based on the difference between the previous imaging condition and the current imaging condition based on the position sensor and the azimuth sensor is performed. Out Characterized in that it comprises a (352).

  The imaging apparatus further includes an altitude sensor (124) for detecting the altitude of the imaging unit and an attitude angle sensor (126) for detecting the attitude angle of the imaging unit, and the imaging conditions include the altitude and the attitude angle of the imaging unit. May also be included.

  The imaging device further includes an image holding unit (118) that holds the image data captured by the imaging unit in association with the imaging condition when the image data is captured, and the imaging condition acquisition unit is held in the image holding unit. Imaging conditions associated with the image data may be acquired.

  The imaging device includes, based on the image data held in the image holding unit, one or more of a difference between an imaging condition when the image data is captured and a desired imaging condition associated with the image data are within a predetermined range An image data extraction unit (150) that extracts image data, and an image data selection promotion unit (148) that causes the photographer to select one image data from the extracted one or a plurality of image data. The unit may acquire an imaging condition associated with the selected image data.

  The image cutout unit may further adjust the cutout position of the partial image data by comparing the image data held in the image holding unit with the current image data to obtain a displacement between the images.

  In order to solve the above-described problem, another imaging apparatus (300) of the present invention that performs fixed-point imaging of a subject desires to capture the previous subject information indicating the position and size of the subject on which the imaging is desired and the imaging. An imaging condition acquisition unit (346) that acquires a previous imaging condition including a planar position and an optical axis azimuth angle, an imaging unit that images a subject and generates image data, and a position sensor that detects a planar position of the imaging unit If the difference between the azimuth angle sensor that detects the optical axis azimuth angle of the imaging unit, the acquired previous imaging condition, and the current imaging condition based on the position sensor and the azimuth angle sensor is within a predetermined range, An image that cuts out partial image data corresponding to the previous image based on the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject on the screen in the current image data Characterized in that it comprises exit section (352).

  In order to solve the above-described problem, another imaging apparatus of the present invention that performs fixed-point imaging of a subject includes an imaging condition acquisition unit that acquires previous subject information indicating the position and size of the subject desired to be imaged on the screen, and An imaging unit that images a subject and generates image data, and a difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data And an image cutout unit that cuts out partial image data corresponding to the previous image based on the difference within the predetermined range.

  The imaging apparatus further includes a site selection promoting unit (154) that allows the imager to select a site in the image data, and the image cutout unit is configured to select the selected site or other regions other than the selected site between images. The displacement may be obtained.

  In order to solve the above-described problem, the imaging method of the present invention acquires the previous imaging conditions including the planar position and the optical axis azimuth in which imaging is desired, detects the planar position of the imaging unit, and detects the optical axis of the imaging unit. If the difference between the previous imaging condition and the current imaging condition based on the detected plane position and the optical axis azimuth is within a predetermined range, the azimuth is detected and the subject is imaged to generate image data. Based on the difference between the previous imaging condition and the current imaging condition, partial image data corresponding to the previous imaging condition is cut out.

  In order to solve the above-described problem, another imaging method of the present invention includes previous subject information indicating the position and size of a subject desired to be imaged, a planar position desired to be imaged, and an optical axis azimuth. The previous imaging conditions are acquired, the planar position of the imaging unit is detected, the optical axis azimuth angle of the imaging unit is detected, the subject is imaged to generate image data, and the subject indicated in the previous subject information If the difference between the position and size on the screen and the position and size of the subject in the current image data is within a predetermined range, it is based on the previous imaging conditions, the detected plane position, and the optical axis azimuth. Based on the difference from the current imaging condition, partial image data corresponding to the previous imaging condition is cut out.

  In order to solve the above-described problem, another imaging method of the present invention includes the previous subject information indicating the position and size of a subject desired to be imaged on the screen, the planar position desired to be imaged, and the optical axis azimuth. Including the previous imaging conditions, detecting the planar position of the imaging unit, detecting the optical axis azimuth angle of the imaging unit, imaging the subject to generate image data, and the previous imaging conditions and the detected planar position If the difference between the current imaging condition based on the optical axis azimuth is within a predetermined range, the position and size of the subject displayed in the previous subject information on the subject screen in the current image data The partial image data corresponding to the previous image is cut out based on the difference between the position and the size of the image.

  In order to solve the above problem, another imaging method of the present invention acquires previous subject information indicating the position and size of a subject desired to be imaged, captures the subject, generates image data, If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data is within a predetermined range, the previous The method is characterized in that partial image data corresponding to the image is cut out.

  As described above, the imaging apparatus according to the present invention quickly reproduces the imaging conditions of the previous imaging based on an easy and uniform processing procedure even when the imaging apparatus cannot be fixed for a long time during fixed-point imaging. High-precision fixed-point imaging is possible.

It is the functional block diagram which showed the schematic structure of the imaging device. It is an external appearance perspective view for defining the attitude angle of an image pick-up part. It is explanatory drawing for demonstrating operation | movement of a site | part selection promotion part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is explanatory drawing for demonstrating operation | movement of an image cutout part. It is the flowchart which showed the whole flow of the imaging method. It is the functional block diagram which showed the schematic structure of the imaging device.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  Fixed-point imaging is to image the same subject at a predetermined time interval, with the optical plane azimuth angle and attitude angle adjusted to approximately the same plane position and altitude. Originally, when fixed-point imaging is performed, it is desirable to fix the imaging device at a predetermined position during the fixed-point imaging, but a general imager (user) uses the imaging device for other purposes for a long time. It cannot be fixed. Therefore, it is necessary to make it possible to reproduce the imaging conditions for fixed-point imaging even after the imaging apparatus is used for other purposes. In the present embodiment, the imaging conditions of the imaging apparatus 100 are manually set until the subject is captured in a range where the imaging conditions can be corrected by image processing, and then the subject is made consistent with the previous imaging by image processing. High-precision fixed-point imaging is possible with a simple processing procedure. Hereinafter, a schematic configuration of the imaging apparatus 100 capable of such fixed-point imaging will be described.

(Imaging device 100)
FIG. 1 is a functional block diagram illustrating a schematic configuration of the imaging apparatus 100. In FIG. 1, the flow of data is indicated by solid arrows, and the control signal is indicated by dotted arrows. The imaging apparatus 100 includes an operation unit 110, an imaging unit 112, a data processing unit 114, a display 116, an image holding unit 118, a position sensor 120, an azimuth angle sensor 122, an altitude sensor 124, and an attitude angle sensor. 126 and a central control unit 128. Therefore, the imaging apparatus 100 can be applied to various electronic devices including the above-described configuration, such as a digital video camera, a digital still camera, a mobile phone, a PDA (Personal Digital Assistant), a personal computer, and a game machine. In addition, the imaging apparatus 100 operates in an imaging mode for performing normal imaging, a fixed-point imaging mode for performing fixed-point imaging, a playback mode for reproducing image data generated in the imaging mode or the fixed-point imaging mode, and the like. Is possible.

  The operation unit 110 includes an operation key including a release switch, a cross key, a joystick, a touch panel superimposed on the display 116, and the like, and receives an operation input from the photographer.

  The imaging unit 112 includes an imaging lens 112a, a focus lens 112b used for focus adjustment, a stop 112c used for exposure adjustment, and an imaging element 112d that converts incident light incident through the imaging lens 112a into electrical data (image data). And a driving unit 112e that drives the focus lens 112b, the diaphragm 112c, and the image sensor 112d, respectively, and captures image data (including both still images and moving images) by imaging a subject that exists in the optical axis direction. ) Is generated. The imaging unit 112 transmits the generated image data to the data processing unit 114. Here, the imaging element 112d performs image data extraction processing in accordance with an image extraction unit 152 described later. The cut-out process is performed by displacing a range in which an image is cut out (captured) from the effective pixel range on the image sensor 112d. Specifically, the CMOS image sensor 112d uses a function of skipping unnecessary portions by ROI (Region of Interest) and reading an arbitrary range within the imaging range. Therefore, the image pickup device 112d has a high resolution to the extent that a sufficient resolution can be obtained even in the image cut out, which will be described later. By doing so, it is not necessary to read out the remaining part of the cutout process, so that the processing load can be reduced and the capacity of the image to be held can be reduced. The imaging unit 112 is also provided with a distance sensor (not shown) so that the focus lens 112b is focused on the subject.

  The data processing unit 114 performs predetermined processing such as gamma correction and knee processing on the image data received from the imaging unit 112 and transmits the processed image data to the display 116 or the image holding unit 118.

  The display (viewfinder) 116 is configured by a liquid crystal display, an organic EL (Electro Luminescence) display, an LED (Light Emitting Diode) display, and the like, and in an imaging mode or a fixed point imaging mode based on a control command of a display control unit 144 described later. The image data received from the data processing unit 114 is displayed, and the image data held in the image holding unit 118 is displayed in the reproduction mode. The photographer can grasp the subject at a desired position and occupied area by operating the operation unit 110 while visually recognizing the image displayed on the display 116 during the imaging mode or the fixed point imaging mode.

  The image holding unit 118 is configured by an HDD (Hard Disk Drive), a flash memory, a nonvolatile RAM (Random Access Memory), and the like. The image data processed by the processing unit 114 is held in association with the imaging condition when the image data is captured. The imaging conditions include, for example, the imaging date and time, the planar position of the imaging device 100 when imaging, the optical axis azimuth of the imaging device 100 when imaging, the altitude of the imaging device 100 when imaging, and the imaging device 100 when imaging. Select from the group of posture angle, distance to the subject, zoom magnification (field angle), aperture, shutter speed, ISO sensitivity setting value, peripheral light amount, strobe emission or charge amount, number of pixels, compression rate, and recording status One or more parameters. Further, the image holding unit 118 may be configured as an apparatus that holds image data in a removable storage medium such as an optical disk medium such as a DVD or a BD (Blu-ray Disc) or a portable memory card. At this time, the image data is converted into M-JPEG (Motion JPEG), MPEG (Moving Picture Experts Group) -2, H.264, or the like. It is also possible to perform encoding using a predetermined encoding method such as H.264 / AVC.

  The position sensor 120 demodulates a GPS signal transmitted by three or more GPS (Global Positioning System) satellites (not shown), and the time when the source GPS satellite transmits a GPS signal (transmission time), The position of the GPS satellite is acquired. And the position sensor 120 extracts the time (reception time) which received the GPS signal based on the clock which itself has, and each GPS satellite and the said imaging device 100 from the extracted reception time and the acquired transmission time. Further, based on the three-point positioning method, the plane position (latitude and longitude information) of the imaging device 100 at the relative distance calculated from each position of the GPS satellite is derived. Here, the position sensor 120 derives the planar position of the imaging device 100 using a GPS signal, but the position derivation method is not limited to that using a GPS signal. For example, a plane position is derived based on a three-point positioning method using distances from at least three radio towers whose plane positions are fixed, or an accelerometer and a triaxial accelerometer are mounted on the imaging apparatus 100. The plane position can be derived internally using the integral value of, or various existing plane position derivation methods can be applied.

  The azimuth sensor 122 is configured using a geomagnetic sensor, a plurality of GPS elements, and the like, and detects an optical axis azimuth angle at which the optical axis of the imaging unit 112 faces on a horizontal plane.

  The altitude sensor 124 is configured using an altimeter, a GPS element, or the like, and detects the altitude of the imaging unit 112. However, in this embodiment, it is only necessary to reproduce the imaging conditions at the time of the previous imaging, and the object can also be achieved by a distance sensor that irradiates infrared rays or ultrasonic waves and measures the distance in the gravitational direction from the ground. Further, the altitude of the imaging apparatus 100 can be detected by combining the distance to the ground and the altitude information of the ground using contour lines using map data.

  The posture angle sensor 126 is configured by adding an inertial sensor such as an acceleration sensor, or an angular velocity sensor, an angular acceleration sensor, or the like to the posture angle sensor 126, and in particular the posture angle (pitch angle θ and roll angle φ) in the imaging unit 112 of the imaging device 100. To derive. Therefore, in the following description, the attitude angle of the imaging unit 112 is referred to, but the attitude angle of the imaging unit 112 can naturally be read as the attitude angle of the imaging device 100. In addition, each of other values of the plane position, the optical axis azimuth angle, and the altitude can be read as the other even if detected with respect to one of the imaging unit 112 and the imaging device 100.

FIG. 2 is an external perspective view for defining the attitude angle of the imaging unit 112. In the digital still camera shown in FIG. 2A as the imaging device 100 or the digital video camera shown in FIG. 2B, the optical axis of the imaging lens 112a is the roll axis of the imaging unit 112, and the axis around the roll axis. The angle is a roll angle φ. Also, the angle around the axis of the pitch axis that is perpendicular to the roll axis and extends in the side surface direction of the main body is the pitch angle θ, and the angle around the axis of the yaw axis that is perpendicular to the roll axis and extends in the direction of the top surface of the main body Is the optical axis azimuth (azimuth) ψ. Here, the pitch angle and the optical axis azimuth may be referred to as a tilt angle and a pan angle, respectively. For example, when the posture angle sensor 126 is configured by a triaxial acceleration sensor, the pitch angle θ and the roll angle φ are derived as follows. That is, the gravitational acceleration G, and the measured value of the acceleration in the roll axial direction and G _phi, the pitch angle _{^{θ = sin -1 (-G φ /}} G). Similarly, when the measured value of acceleration in the pitch axis direction is G _θ , the roll angle φ = sin ⁻¹ (G _θ / G). The acceleration sensor also detects linear acceleration that does not involve rotation of the pitch angle θ or roll angle φ. The pitch angle θ and the roll angle φ can be detected with high accuracy.

  The central control unit 128 controls the entire imaging apparatus 100 by a semiconductor integrated circuit including a central processing unit (CPU), a signal processing unit (DSP: Digital Signal Processor), a ROM storing programs, a RAM as a work area, and the like. Manage and control. The central control unit 128 also includes an image control unit 140, a storage control unit 142, a display control unit 144, an imaging condition acquisition unit 146, an image data selection promotion unit 148, an image data extraction unit 150, an image cutout unit 152, and a region selection. It also functions as the promotion unit 154.

  The image control unit 140 controls the imaging unit 112 according to the operation input of the photographer. For example, the image control unit 140 drives the focus lens 112b, the diaphragm 112c, and the image sensor 112d by the drive unit 112e so as to obtain appropriate image data, and focuses the subject, or adjusts exposure and zoom magnification. .

  The storage control unit 142 causes the image holding unit 118 to hold the image data that has been processed by the data processing unit 114 in the imaging mode or the fixed point imaging mode. At this time, the storage control unit 142 captures the imaging date and time, the planar position acquired from the position sensor 120, the optical axis azimuth acquired from the azimuth sensor 122, the altitude acquired from the altitude sensor 124, and the attitude angle acquired from the attitude angle sensor 126. (Pitch angle θ, roll angle φ), distance to the subject, zoom magnification (view angle) acquired from the imaging unit 112, aperture, shutter speed, ISO sensitivity setting value, peripheral light amount, strobe emission amount or charge amount, number of pixels The image capturing conditions such as the compression rate and the recording state are stored in association with the image data.

  While the operation mode of the imaging apparatus 100 is the imaging mode or the fixed point imaging mode, the display control unit 144 displays an image based on the image data processed by the data processing unit 114 on the display 116, and the operation mode is the reproduction mode. Meanwhile, an image based on the image data held in the image holding unit 118 is displayed on the display 116. The operations of the imaging condition acquisition unit 146, the image data selection promotion unit 148, the image data extraction unit 150, the image cutout unit 152, and the part selection promotion unit 154 will be described later.

(Processing procedure for fixed-point imaging)
The imaging apparatus 100 according to the present embodiment reproduces the imaging conditions for fixed-point imaging easily and uniformly according to the following processing procedure. That is, (1) The image capturing apparatus 100 is manually moved so that the image capturing conditions such as the plane position and the altitude substantially coincide with the previous image capturing (hereinafter simply referred to as “manual setting process”). At this time, it is not always necessary for the user to visually confirm the captured image. When the imaging conditions are roughly the same, (2) the position and size deviation of the subject on the screen based on the previous image and the current image is corrected by image processing (hereinafter simply referred to as “correction processing based on subject position”). " In this way, highly accurate fixed-point imaging becomes possible. Here, the term “previous imaging” is intended to include imaging at an arbitrary timing in the past, not strictly referring to imaging immediately before fixed-point imaging.

  As another processing procedure, (1) manual setting processing is performed, and when the imaging conditions roughly match, (3) image processing is performed based on the previous imaging conditions and the current imaging conditions that cannot be corrected manually. (Hereinafter simply referred to as “correction processing based on imaging conditions”) also enables high-precision fixed-point imaging. As still another processing procedure, (1) manual setting processing, (3) correction processing based on imaging conditions, and (2) correction processing based on subject position can be performed.

As described above, the stepwise process for reproducing the fixed-point imaging is limited in the reproducibility of the fixed-point imaging even if the imaging conditions of the imaging apparatus 100 are reproduced manually only ((1) manual setting process). This is because, following such processing, (2) correction processing based on the subject position and (3) correction processing based on the imaging conditions are executed, so as to improve the reproducibility of fixed point imaging. Hereinafter, an embodiment in which (1) manual setting processing and (2) correction processing based on subject position are performed in the first embodiment using the imaging apparatus 100 will be referred to as (1) manual setting processing and (3) imaging. An embodiment in which correction processing based on conditions is performed in the second embodiment, and (1) manual setting processing, (3) correction processing based on imaging conditions, and (2) correction processing based on subject position are all performed. Is shown in a third embodiment.
(First embodiment: (1) Manual setting process + (2) Correction process based on subject position)

(Manual setting process)
When the operation mode is the fixed point imaging mode, the imaging condition acquisition unit 146 acquires an imaging condition for which imaging is desired as a reference for the fixed point imaging mode. Specifically, when performing fixed point imaging, the imaging condition acquisition unit 146 captures an imaging condition serving as a reference for the fixed point imaging, for example, a plane position, an optical axis azimuth angle, an altitude, an attitude angle, and the like through the operation unit 110. And set as imaging conditions for fixed-point imaging.

  When image data generated in the past in identification point imaging is stored in the image storage unit 118 in association with the imaging condition, the image data selection promotion unit 148 selects one of the stored image data from one or a plurality of image data. Have the photographer select image data. Further, the imaging condition acquisition unit 146 can also acquire the imaging condition associated with the image data selected through the image data selection promotion unit 148 instead of the input by the above-described photographer.

  The fixed-point imaging is originally aimed at imaging under the same imaging conditions as image data generated in the past. Here, by directly selecting past image data held in the image holding unit 118 and acquiring the imaging conditions associated with the image data, the imager can perform complicated manual input via the operation unit 110. In addition, it is possible to select the image data suitable for the reference of the imaging condition and easily perform the current imaging under the same imaging condition as the image data generated in the past.

  When the imaging condition acquisition unit 146 acquires the previous imaging condition desired by the photographer through the operation unit 110, the image data extraction unit 150 obtains image data from one or a plurality of image data held in the image holding unit 118. One or a plurality of image data in which the difference between the imaging condition at the time of imaging and the desired previous imaging condition is within a predetermined range (correctable range) is extracted. Then, the image data selection promotion unit 148 causes the photographer to select one image data from one or a plurality of image data extracted by the image data extraction unit 150, and the imaging condition acquisition unit 146 associates with the selected image data. The obtained imaging condition is acquired. Thus, the imager simply inputs a rough value of a part of the imaging conditions (for example, the plane position and altitude), and refers to the previous image data captured near the input plane position and altitude. It is possible to perform fixed-point imaging in accordance with the will of the photographer based on desired image data.

  In addition, the image data extraction unit 150 acquires the current plane position and altitude in the fixed-point imaging mode, for example, without the operation input of the imaging condition desired by the photographer through the operation unit 110, and is indicated in the imaging condition. Alternatively, one or a plurality of pieces of image data having a difference between the position and altitude within a predetermined range may be extracted. Then, the image data selection promotion unit 148 causes the photographer to select one image data from one or a plurality of image data extracted by the image data extraction unit 150, and the imaging condition acquisition unit 146 associates with the selected image data. The obtained imaging condition is acquired. Since it is assumed that the imager is near a point where fixed-point imaging is to be performed, the configuration in which image data is extracted based on the planar position and altitude of the imaging device 100 allows the imager to have no imaging conditions. It is possible to easily select desired image data without forcing input.

  In this way, using the previous imaging conditions acquired by the imaging condition acquisition unit 146, the imager manually moves the imaging device 100 so that the plane position and altitude are approximately the same at the time of the previous imaging and the current time. The optical axis azimuth and posture angle are set to desired angles. At this time, the display control unit 144 displays the plane position, optical axis azimuth angle, altitude, attitude angle and current plane position, optical axis azimuth angle, altitude, attitude angle at the time of previous imaging on the display 116, or the previous time Differences between the current imaging position and the current plane position, optical axis azimuth angle, altitude, and attitude angle are displayed, and the direction of the displacement of the imaging apparatus 100 for matching the current imaging conditions with the previous imaging conditions is indicated. By displaying together with an index (for example, an arrow) or the like, the camera operator is notified of how much the imaging device 100 is moved (varied). Specifically, the display control unit 144 displays the current through image and an image based on the previous image data on the display 116. At this time, the image based on the previous image data and the current through image may be displayed by dividing the display screen into two, or may be reduced and displayed as a sub-screen (Picture in Picture). Alternatively, a semi-transparent image based on the previous image data may be superimposed and displayed. Further, the display control unit 144 urges the movement of the imaging apparatus 100 by superimposing an arrow indicating a direction to be displaced on the current through image. Thus, the photographer can easily move the image capturing apparatus 100 to a position where fixed image capturing is possible.

  In addition, the image capturing apparatus 100 may be provided with a mechanism for automatically controlling the attitude of the image capturing apparatus 100 itself, and may be controlled to correct the optical axis azimuth angle and the attitude angle. A mechanism that allows the lens 112a and the focus lens 112b to move in an arbitrary direction may be provided and controlled to correct the optical axis azimuth and attitude angle.

(Correction processing based on subject position)
The image cutout unit 152 derives a difference between the previous imaging condition acquired by the imaging condition acquisition unit 146 and the current imaging condition based on the position sensor 120 and the azimuth angle sensor 122 while the operation mode is the fixed point imaging mode. Subsequently, one or more predetermined parameters among the imaging conditions, for example, a predetermined range in which the difference between the plane position and the optical axis azimuth is predetermined (for example, the plane position ± 1 m, the optical axis azimuth ± 10) If within (°), this is notified to the photographer, and the position and size deviation of the subject on the screen based on the previous image and the current image is corrected by image processing.

  The predetermined range of the planar position and the optical axis azimuth may be changed according to the distance between the imaging unit 112 and the subject. For example, when a fixed point image of a relatively close subject is taken, the allowable displacement of the plane position is small, and when a fixed point image of a landscape or the like at a substantially infinite distance is taken, the variation of the allowable plane position becomes large. Therefore, the image cutout unit 152 determines a predetermined range with reference to the distance to the subject in the previous imaging as the imaging condition, and determines the predetermined range when the distance to the subject is shorter than when the distance to the subject is long. Set a narrow range. In addition, the predetermined range of the optical axis azimuth angle may not be basically changed, but the zoom magnification is low when the distance between the imaging unit 112 and the subject is long, the zoom magnification is increased, and the angle of view is narrowed. It is desirable to narrow the predetermined range of the optical axis azimuth from the case.

  By the way, fixed-point imaging is often used for observing changes over time of the same subject 174. Therefore, contrary to the assumption that the subject 174 appearing on the screen is the same, the subject 174 is accompanied by some change (for example, a change in the size of the subject 174 due to plant growth, discoloration of branches and leaves, a change due to withering, etc.). It is also envisaged. However, the part with the change is often limited to, for example, only the plant in the growth of the plant, and there is a part with no change such as a pot for holding the plant. Therefore, in the present embodiment, the following site selection promotion unit 154 is provided.

  The part selection promoting unit 154 causes the imager to select an arbitrary part in the image data. Then, the image cutout unit 152 compares the images with respect to the part selected by the part selection promoting unit 154. The part selection promoting unit 154 can ignore a part that does not change, for example, a part that changes due to the growth of the plant by allowing the photographer to specify a pot that holds the plant. It is possible to grasp a part that does not change, and to perform accurate comparison between images on the assumption that there is no change with respect to the part.

  FIG. 3 is an explanatory diagram for explaining the operation of the part selection promoting unit 154. The part selection promoting unit 154 prompts the photographer to select a part in the image data, and the photographer uses the subject 174 for the previous image data and the current image data as shown in FIGS. A part (designated part 178) having no change is designated for an image based on the respective image data. By comparing the previous image data with the current image data for the designated portion 178, the image cutout unit 152 detects a positional shift between the previous image data and the current image data. As shown in (b) and (c), the position where the image data is cut out from the image sensor 112d is displaced by the amount corresponding to the shift amount, and the partial image 172 is cut out. At this time, the image cutout unit 152, when comparing the previous image data with the current image data, image data that has already been cut out from the image sensor 112d in an arbitrary range is not shown in the buffer or the central control unit 128. Therefore, the partial image 172 can be cut out as image editing and processing by the central control unit 128 using the image data.

  At this time, when the size (area) of the corresponding designated portion 178 on the image is different, the image cutout unit 152 determines that the detection value of the planar position of the imaging device 100 is shifted in the optical axis direction, and A method of correcting by changing the zoom magnification by an amount corresponding to the amount of displacement can be used together.

  Further, the designated portion 178 associated with the previous image data and the current image data does not need to be one place on the screen, and a plurality of places can be designated and corrected, thereby improving accuracy. it can.

  Further, the designated portion 178 designates not only a portion that does not change as described above but also a portion where the subject 174 changes with time, and compares the current image data with the previous image data in other regions. The coincidence of the subject 174 may be detected. For example, when the photographer designates a flower portion that is an object that changes with time when taking a fixed point image of a flower blooming, the image cutout unit 152 images an area other than the designated portion 178. Match is detected as a comparison target.

  For example, the following procedure is conceivable as a specific example in which a partial part of such an image is designated and deviation correction is performed. First, when the operation mode of the imaging apparatus 100 is set to the fixed point imaging mode, the part selection promoting unit 154 causes the imager to select one image data as the previous image data, and based on the current through image and the previous image data. The image is displayed on the display 116. At this time, the image based on the previous image data and the current through image may be displayed by dividing the display screen into two, or may be reduced and displayed as a sub-screen, or may be translucent. The image based on the previous image data may be displayed in an overlapping manner.

  Subsequently, the photographer operates the touch panel which is the operation unit 110 to designate an arbitrary designated portion 178 with little change due to time transition on the screen in the previous image data and the current image data, respectively. The photographer designates the designated portion 178 by designating a point on the screen or designating an area. In addition, a wider peripheral range can be defined as a comparison region so as to include a designated point or region. Regarding the previous image data, the designated portion 178 may be designated in advance at the time of the previous imaging, or may be designated again at the time of the current imaging.

  Next, the image cutout unit 152 compares the designated portion 178 of each of the previous image data and the current image data, and performs imaging so that the target subject 174 in the current image data matches the previous image data. Adjustment of the cropping position, cropping range, or zoom amount of the image data on the element 112d or already acquired is performed. When the position and size of the subject 174 fall within a predetermined error range between the previous image data and the current image data, the correction is completed, a message prompting the imager to start imaging is displayed, and fixed point imaging is performed. Let it run.

  In addition, in the comparison between images, the image cutout unit 152 extracts feature points from the previous image data and the current image data, and the previous image data and the current image data are extracted from the coordinate shift of the corresponding feature points. A shift on the screen may be detected, and the position and size at which the partial image data is cut out from the image sensor 112d and the acquired image data may be displaced by an amount corresponding to the shift amount, or may be corrected by adjusting the zoom amount. Regarding the feature point extraction from the image data, since an existing technique can be used, detailed description thereof is omitted here.

  When such feature points are made to correspond between images, basically, two points between images with high correlation can be made to correspond by searching for a correlation between images near the feature points by template matching. However, all the feature points extracted from the previous image data need not correspond to the feature points of the current image data. For this reason, the photographer may arbitrarily specify the feature points to be compared in advance. Thereby, at the time of fixed point imaging, it is possible to intentionally specify a feature point with little change due to time transition from the target image. Here, the feature point to be designated by the photographer does not have to be one place on the screen, and the accuracy can be improved by designating a plurality of places.

  The association of feature points by template matching described above is effective when there is little zoom, rotation, or movement of the imaging apparatus 100, such as between adjacent frames in a moving image. However, when the imaging conditions of the imaging device 100 are assumed to be different for each imaging, as in the fixed-point imaging that is assumed this time, that is, the imaging device 100 is moved or rotated, so that the correlation between images decreases. In such a case, there is a possibility that feature points that should not be associated with each other may be associated with each other by mistake.

  At this time, regarding the respective feature points of the previous image data and the current image data, the photographer may designate the corresponding feature points in advance as a set. The image cutout unit 152 extracts and corrects the shift amount from the coordinates of the feature points of the two images designated as a corresponding set by the photographer. Here, regarding the designation of the set of feature points corresponding to the previous image data and the current image data, it is not necessary to be one location on the screen, and the accuracy can be improved by specifying and correcting a plurality of locations. .

  Further, instead of the template matching described above, the image cutout unit 152 extracts a contour from the previous image data and the current image data, and performs pattern matching on the contour of the previous image data and the current image data. Detect the amount of deviation between the previous image data and the current image data, and adjust the cut-out position and size of the partial image data and the zoom magnification so that the position and size of the subject 174 on the screen match. Also good. Regarding the contour extraction from the image data, since an existing technique can be used, detailed description thereof is omitted here.

  At this time, regarding the contour extracted from the previous image data, the photographer may arbitrarily specify a contour portion to be compared in advance. Thereby, at the time of fixed-point imaging, it is possible to intentionally specify a contour portion with little change due to time transition from the target image. Here, the contour portion designated by the photographer does not have to be one place on the screen, and a plurality of places can be designated to improve accuracy.

  Furthermore, the photographer may be allowed to specify a pair of arbitrary corresponding contour portions in advance for each contour portion of the previous image data and the current image data. The image cutout unit 152 extracts and corrects the shift amount from the contour portions of the two images designated as a corresponding group by the photographer. Here, the designation of the pair of contour portions corresponding to the previous image data and the current image data need not be one place on the screen, and the accuracy can be improved by designating and correcting a plurality of places.

  Note that the feature points or contours of the previous image data may be extracted at the next imaging or may be extracted in advance. Also, feature points or contours may be automatically extracted when imaged, or feature points or contour data may be stored in association with image data.

  Further, when the color information and light amount information of the subject 174 are different from the previous image data, the image cutout unit 152 changes parameters (for example, white balance, aperture, exposure, etc.) for correcting it. Alternatively, correction may be performed so that the color information and the light amount information match or fall within a predetermined range.

  When imaging the subject 174 with fixed-point imaging, depending on the weather, time zone, etc. at the time of imaging, the colors and light amounts of the images captured of the subject 174 differ between images to be compared, making it difficult to compare the subjects 174 There is. Therefore, by correcting the previous image data and the current image data so as to unify the hue and light amount, the image cutout unit 152 can easily and reliably compare the subjects 174. Here, “unifying the hue and light amount” includes not only the process of completely matching the color information and light amount information but also making the hue and light amount substantially the same so as to fall within a predetermined range. In other words, it does not need to be completely the same in terms of data, but it means that it is enough to feel almost the same with the human eye.

  For example, the image cutout unit 152 compares the color information and the light amount information with each other at the point or portion corresponding to the previous image data and the current image data described above. Further, following the above-described correction processing of the image shift due to the feature points and contours, the color and light amount of the image may be unified.

  Such correction makes it possible to minimize differences in captured images due to the color and light amount of the subject 174 that change according to the weather and time zone at the time of imaging. It is possible to easily grasp the shape change in the time series.

  Even if the subject 174 can be matched with high accuracy, when the imaging apparatus 100 is not fixed with a tripod or the like, for example, when it is held with a hand, it is shifted again due to the influence of camera shake or the like. It is also possible to take an image with Therefore, once the identity of the images (pixels or feature points, contours, etc.) is once guaranteed against the previous imaging state (the position and size of the subject indicated on the previous subject information and the current If the difference between the position and size of the subject in the image data in the image data falls within a predetermined range), the so-called so-called 174 follows the subject 174 as long as it is within a correctable range within the effective pixel area of the image sensor 112d. The lock state may be held and the partial image data may be appropriately cut out. With this configuration, even if fixed-point imaging is performed in a state where the imaging apparatus 100 is not fixed by a tripod or the like, the subject 174 can be reliably captured at a fixed point, and high-precision fixed-point imaging is possible.

  Even in a state where the imaging conditions of the imaging device must be set again by the imaging device 100 described above, easy and uniform processing procedures such as (1) manual setting processing and (2) correction processing based on subject position Based on the above, it is possible to quickly reproduce the imaging conditions at the time of previous imaging, and to perform high-precision fixed-point imaging.

(Second embodiment: (1) Manual setting process + (3) Correction process based on imaging conditions)
In the correction process based on (2) subject position in the first embodiment, after image data is captured, image comparison is executed in units of pixels, so that high-precision fixed-point imaging is possible. However, when realizing this process, when switching from manual setting processing to correction processing based on the subject position, the subject position may be significantly different between the previous image and the current image, In the case where the color and light quantity of images differ due to differences in time zone and weather, it may be difficult to ensure the identity of images to be compared (pixels, feature points, contours, etc.). Furthermore, since a very heavy processing load is applied to image comparison and a large amount of storage capacity and bandwidth are required, real-time processing may not be ensured. Therefore, in the second embodiment, without comparing images, the previous imaging condition and the current imaging condition are compared to correct a subject shift in the image by image processing. In this way, the difference in the imaging conditions is directly associated with the displacement of the cutout position from the effective pixel range of the image sensor 112d, and the unnecessary pixel range portion that becomes data that will eventually be discarded is not read, so that the image Reduce processing load, storage capacity and bandwidth.

(Manual setting process)
Also in the second embodiment, as in the first embodiment, first, manual setting processing is executed. Since the manual setting process is substantially the same as the manual setting process in the first embodiment, a detailed description thereof is omitted here.

(Correction processing based on imaging conditions)
The image cutout unit 152 derives a difference between the previous imaging condition acquired by the imaging condition acquisition unit 146 and the current imaging condition based on the position sensor 120 and the azimuth angle sensor 122 while the operation mode is the fixed point imaging mode. Subsequently, one or more predetermined parameters in the imaging conditions, for example, a predetermined range in which the difference between the plane position and the optical axis azimuth is predetermined (for example, the plane position ± 1 m, the optical axis azimuth ± 10 °). ), The imager is notified of this, and the partial image data corresponding to the previous imaging condition is cut out from the imaging element 112d based on the difference between the previous imaging condition and the current imaging condition.

  In the present embodiment, the photographer manually moves the imaging device 100 so that the plane position and the optical axis azimuth are substantially the same as those at the previous imaging, and in a state where a desired subject is imaged on the screen, In order to correct the deviation of the imaging conditions, the image extraction unit 152 adjusts the extraction position and range of the partial image data, and executes high-precision fixed-point imaging.

  4 to 9 are explanatory diagrams for explaining the operation of the image cutout unit 152. FIG. For example, the image cutout unit 152 cuts out a partial image (partial image 172) shown in FIG. 4B from the whole image 170 in the entire effective pixel region of the image sensor 112d shown in FIG. It is data. Then, the display control unit 144 displays a partial image based on the cut out partial image data on the display 116, and the storage control unit 142 causes the image holding unit 118 to hold the cut out partial image data.

  In the present embodiment, the deviation of the imaging condition is corrected by adjusting the cutout position and size of the partial image data in the entire effective pixel region. For example, the image cutout unit 152 compares the previous image with the current image capturing condition, in particular, the plane position, the optical axis azimuth angle, the altitude, and the attitude angle, and corresponds to a deviation amount from the image capturing condition at the previous image capturing. Accordingly, the shift is corrected by displacing the cut-out portion of the partial image data from the effective pixel region in the image sensor 112d.

  At this time, among the deviations on the plane perpendicular to the optical axis at the current plane position with respect to the plane position of the previous image data, the deviation in the horizontal direction of the screen is the plane position acquired from the position sensor 120, from the azimuth angle sensor 122. It can be calculated using the acquired optical axis azimuth angle, and the deviation in the vertical direction of the screen is calculated using the altitude acquired from the altitude sensor 124 and the attitude angle (pitch angle θ) acquired from the attitude angle sensor 126. Can do. As described above, the image cutout unit 152 cuts out the partial image after the imaging condition is within the predetermined range. Therefore, the image cutout unit 152 is manually operated from the state where the imaging condition is met. Then, fine adjustment with a limit can be executed by image processing.

  For example, as shown in FIG. 5A, when the current image data is shifted from the previous image data in the horizontal direction of the screen due to the shift of the plane position or the optical axis azimuth, the image cutout unit 152 5 (a) and 5 (b), the shift amount is acquired, and the cut-out position of the partial image 172 is displaced in the horizontal direction of the screen. As shown in FIG. 6A, when the current image data is shifted from the previous image data in the vertical direction of the screen due to a shift in altitude or posture angle, the image cutout unit 152 displays the image data in FIG. ) And (b), the shift amount is acquired, and the cut-out position of the partial image 172 is displaced in the screen vertical direction.

  Further, as shown in FIG. 7A, when the current image data is shifted from the previous image data in a direction approaching the subject 174 in the optical axis direction due to the shift of the plane position, the subject 174 in the effective pixel region is Since the image data becomes larger than the previous image data, the image cutout unit 152 acquires the shift amount, and lowers the zoom magnification (zoom out) by an amount corresponding to the shift amount as shown in FIG. The partial image 172 is cut out as in FIG. Further, as shown in FIG. 8A, when the current image data is shifted in the direction far from the subject 174 in the optical axis direction from the previous image data due to the shift in the plane position, the subject 174 in the effective pixel region is Since the image data becomes smaller than the previous image data, the image cutout unit 152 acquires the shift amount and increases the zoom magnification (zoom in) by an amount corresponding to the shift amount as shown in FIG. The partial image 172 is cut out as shown in (c).

  Here, the image cutout unit 152 cuts out the partial image 172 after changing the zoom magnification. However, the present invention is not limited to this, and the size of the cutout is changed by an amount corresponding to the zoom magnification. The target partial image 172 can also be cut out at a time. For example, when a partial image 172 having a large zoom magnification is cut out, the image cutout unit 152 increases the cutout range of the image from the image sensor 112d, and the image size (number of pixels) of the cut out partial image 172 is increased. Image processing is performed so as to match (reduce) to the original image size. When a partial image 172 with a small zoom magnification is cut out, the cut-out range of the image from the image sensor 112d is reduced, and the reduced image size (number of pixels) of the cut-out partial image 172 is adjusted to the original image size. Image processing is performed so as to (enlarge). If the size of the subject 174 is adjusted in this way and then it is necessary to shift the plane perpendicular to the optical axis (the horizontal direction of the screen or the vertical direction of the screen), the image cutout unit 152 will be described with reference to FIGS. As described with reference to, the shift amount is acquired and the cut-out position of the partial image 172 is displaced.

  Further, as shown in FIG. 9A, when the current image data is deviated from the previous image data in the rotation direction around the optical axis due to the rotation of the attitude angle of the imaging apparatus 100, particularly the roll angle φ. The image cutout unit 152 acquires the shift amount, and shifts the cutout position of the partial image 172 in the rotation direction by an amount corresponding to the shift amount as shown in FIGS. 9 (a) and 9 (b). At this time, as shown in FIG. 9C, the image cutout unit 152 temporarily captures a candidate image 176 that is set large enough to sufficiently include a necessary pixel area from the image sensor 112d, and then performs partial processing by image processing. The image 172 may be cut out.

  Here, when the imaging condition is not acquired and the imaging condition is not acquired, or when the imaging data is captured for the first time when the imaging condition is acquired, but the imaging condition itself is not held, the extraction position And size can be set freely. However, if the cutout position and size can be set freely, the cutout size is too large to make adjustment of the cutout range, which will be described later, too small, and the accuracy of image comparison, which will be described later, deteriorates. Sometimes. Therefore, when the imaging condition is not acquired, the image cutout unit 152 cuts out the partial image 172 in a predetermined range, for example, 1/4 times the entire image 170 (vertical and horizontal ½). Therefore, the image pickup device 112d has a high resolution to the extent that a sufficient resolution can be obtained even in the image cut out, which will be described later.

  As described above, by cutting out the partial image 172 so that the current imaging condition matches the previous imaging condition, an image equivalent to that captured under the previous imaging condition can be reproduced to the maximum extent. In addition, here, without comparing images with heavy processing loads, the previous imaging conditions are compared with the current imaging conditions, and the displacement of the subject in the image is displaced by the cut-out position of the image sensor 112d. Because it can be corrected by simple image processing, it is possible to reduce the image processing load, storage capacity, and bandwidth without having to read unnecessary portions of the effective pixel range that will eventually be discarded. It becomes. Furthermore, even if it is difficult to ensure the identity of the subject between the previous image and the current image, such as when the image color and light amount differ due to the difference in time zone and weather at the time of previous imaging, Since the image itself is not used, high-precision fixed-point imaging is possible.

(Third embodiment: (1) Manual setting process + (3) Correction process based on imaging condition + (2) Correction process based on subject position)
In the second embodiment, after manually moving the imaging apparatus 100 so as to approximately match the previous imaging, the correction of the deviation based on the imaging conditions corrects the subject 174 between the current image data and the previous image data. The position matching accuracy on the screen can be increased. However, the position on the screen does not always match exactly due to the measurement error of each sensor.

  Therefore, the image cutout unit 152 of the present embodiment performs (1) manual setting processing and (3) correction processing based on the imaging conditions, and then (2) correction processing based on the subject position. Since the specific processes of (1), (2), and (3) are substantially the same as the processes in the first and second embodiments, detailed description thereof is omitted here, and FIG. The overall process flow will be described based on the flowchart shown in FIG.

((1) Manual setting process)
When the fixed point imaging mode is selected as the operation mode, the position sensor 120 detects the planar position of the imaging unit 112 (S200), and the azimuth sensor 122 detects the optical axis azimuth of the imaging unit 112 (S202). The altitude sensor 124 detects the altitude of the imaging unit 112 (S204), and the attitude angle sensor 126 detects the attitude angle of the imaging unit 112 (S206).

  Subsequently, the image cutout unit 152 determines whether or not the imaging condition relating to the previous image data serving as a reference has been acquired (S208). If the imaging condition has not yet been acquired (NO in S208), the image data extraction unit 150 is determined. Obtains the detected current imaging condition (plane position, optical axis azimuth angle, altitude, attitude angle), and one or a plurality of image data having an imaging condition in which a difference from the imaging condition is within a predetermined range Are extracted from the image holding unit 118 (S210). The image data selection promoting unit 148 causes the photographer to select one image data from the one or more extracted image data (YES in S212). In this way, the imaging condition acquisition unit 146 acquires imaging conditions including the plane position and the optical axis azimuth desired for imaging, which are associated with the selected image data (S214). Since the photographer should be near the point where fixed-point imaging is to be performed, it is not forced to input any imaging conditions, and it is possible to easily select desired image data.

  When the imaging condition relating to the previous image data serving as a reference is acquired in this way (YES in S208), the imaging unit 112 captures the subject 174 and generates image data (S216), and the image cutout unit Reference numeral 152 denotes a difference between the previous imaging condition and the current imaging condition, and whether the difference between the imaging conditions is within a predetermined range, for example, a planar position ± 1 m and an optical axis azimuth angle ± 10 °. It is determined whether or not (S218). When the predetermined range is exceeded (NO in S218), the display control unit 144 causes the display 116 to display the plane position, optical axis azimuth, altitude, attitude angle and current plane position, optical axis azimuth, By displaying the altitude and attitude angle, or by displaying the difference between the plane position, optical axis azimuth angle, altitude and attitude angle between the previous imaging and the current time, how much the imaging apparatus 100 is moved (varied) to the photographer ) Is notified (S220). Thus, the photographer can easily move the imaging device 100 to a position where the fixed-point imaging can be performed without visually checking the generated image data.

((3) Correction processing based on imaging conditions)
If it is determined that the difference between the previous imaging condition and the current imaging condition is within a predetermined range and the imaging apparatus 100 is in a position where fixed-point imaging is possible (YES in S218), the image cropping unit 152 indicates that In addition to notifying the photographer (S222), it is determined whether or not the extraction process based on the difference between the imaging conditions is completed (S224). If not completed yet (NO in S224), the previous imaging condition and the current Based on the difference from the imaging condition, partial image data corresponding to the previous imaging condition is cut out from the imaging element 112d (S226). At this time, the image cutout unit 152 is based on the difference between the plane position, the optical axis azimuth angle, the altitude, and the attitude angle at the time of previous imaging on the display 116 and the current plane position, optical axis azimuth angle, altitude, and attitude angle. Thus, the area where the partial image data is cut out is displaced by an amount corresponding to the amount of displacement, and the desired partial image data is cut out by changing the zoom magnification. In this way, the extraction process based on the difference between the imaging conditions is completed.

((2) Correction processing based on subject position)
Further, when the clipping process based on the difference between the imaging conditions is completed (YES in S224), it is determined whether the clipping process based on the image comparison is completed (S228), and if not completed (NO in S228), The image cutout unit 152 adjusts the cutout position of the partial image data by comparing the previous image data with the current image data (S230). At this time, the part selection promoting unit 154 may cause the photographer to select a part in the image data and compare the images only with respect to the selected part. When the images match in this way, the cutout position is adjusted for the matched images. When the clipping process based on the image comparison is completed (YES in S228), the imager can start imaging, and in response to an operation input for starting fixed-point imaging on the operation unit 110 of the imager (in S232) YES), the cut-out partial image data is held in the image holding unit 118 (S234).

  In the present embodiment, (2) before performing the correction process based on the subject position, (3) performing the correction process based on the imaging condition, thereby reproducing an image equivalent to that captured under the previous imaging condition to the maximum extent. it can. Accordingly, the position on the screen of the target subject 174 in the current imaging is very close to the position on the screen of the subject 174 in the previous imaging. Therefore, in the correction processing based on the subject position, the comparison range is also set. It is possible to narrow down, and even when the color and light quantity of the subject 174 are different between the current and the previous time and the degree of coincidence is low, the specific rate can be increased, and (2) subject position without causing erroneous determination The correction accuracy by the correction process based on can be improved. In this way, by performing a series of processing such as (1) manual setting processing, (3) correction processing based on imaging conditions, and (2) correction processing based on subject position, an easy and uniform processing procedure is performed. The imaging conditions at the time of the previous imaging can be quickly reproduced, high-precision fixed-point imaging is possible, and changes and differences due to temporal transitions can be grasped more clearly even in the case of follow-up observations and aging observations. .

  Furthermore, a program that causes a computer to function as the imaging apparatus 100 and a computer-readable storage medium such as a flexible disk, a magneto-optical disk, a ROM, an EPROM, an EEPROM, a CD, a DVD, and a BD that record the program are also provided. . Here, the program refers to data processing means described in an arbitrary language or description method.

(Fourth embodiment: imaging apparatus 300)
As a preparatory stage for performing fixed-point imaging, in the first to third embodiments, the imaging apparatus 100 is manually moved so that imaging conditions such as the plane position and altitude are approximately the same as those at the previous imaging. In the fourth embodiment, while viewing the image based on the current image data displayed on the imaging apparatus 300 and the image based on the previous image data, the position and size of the subject 174 on the screen during the previous imaging. Manually move the imaging apparatus 300 so that the two generally match.

  FIG. 11 is a functional block diagram illustrating a schematic configuration of the imaging apparatus 300. The imaging apparatus 300 includes an operation unit 110, an imaging unit 112, a data processing unit 114, a display 116, an image holding unit 118, a position sensor 120, an azimuth angle sensor 122, an altitude sensor 124, and an attitude angle sensor. 126 and a central control unit 128. Further, the central control unit 128 includes an image control unit 140, a storage control unit 142, a display control unit 344, an imaging condition acquisition unit 346, an image data selection promotion unit 148, an image data extraction unit 150, an image cutout unit 352, and a region selection. It also functions as the promotion unit 154. The operation unit 110, the imaging unit 112, the data processing unit 114, the display 116, the image holding unit 118, the position sensor 120, the azimuth angle sensor 122, the altitude sensor 124, the attitude angle sensor 126, the central control already described in the first embodiment. The unit 128, the image control unit 140, the storage control unit 142, the image data selection promotion unit 148, the image data extraction unit 150, and the part selection promotion unit 154 are substantially the same in function, and thus redundant description is omitted. The display control unit 344, the imaging condition acquisition unit 346, and the image cutout unit 352 that are different from each other will be mainly described.

  As in the first embodiment, the imaging condition acquisition unit 346 acquires the imaging conditions including the planar position and the optical axis azimuth in which imaging is desired, and the position and size of the subject 174 on which the imaging is desired. The subject information indicating is acquired.

  The display control unit 344 displays the previous image data including the imaging conditions acquired by the imaging condition acquisition unit 346 on the entire screen on one side of the display 116 or in a semi-transparent state. At this time, for example, a GUI (Graphical User Interface) function that displays a marker on the display 116 and prompts the photographer to direct the optical axis azimuth and orientation of the imaging apparatus 300 in a target direction may be used together. Good. Then, the display control unit 344 displays the current image data on the other divided into two or on the entire screen. While observing the display 116, the imager takes the imaging device 300 so that the desired subject 174 of the previous image data and the subject 174 in the current image data (through image) are at the same position and the same size. To move.

  At this time, the display control unit 344 can also display the previous image data on the display 116 as a composition image without superimposing it as it is. Here, the composition image is an image serving as a reference when determining the imaging position by displaying simultaneously with the through image at the time of fixed-point imaging, for example, extracting the contour of the captured image, thinning out the pixels to make it sparse, The captured image is generated by making it a single color (for example, monochrome or sepia).

  If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject 174 in the current image data is within a predetermined range, the image cutout unit 352 is within a predetermined range. Based on the difference between the previous imaging condition and the current imaging condition based on the position sensor 120 and the azimuth angle sensor 122, partial image data is cut out from the imaging element 112d. At this time, the image cutout unit 352 performs correction processing based on the subject position after performing correction processing based on the imaging conditions, as in the third embodiment.

  Even in a state where the imaging conditions of the imaging apparatus 300 have to be set again by the imaging apparatus 300, (1) manual setting processing, (3) correction processing based on imaging conditions, (2) correction processing based on subject position, etc. Based on an easy and uniform processing procedure, it is possible to quickly reproduce the imaging conditions at the time of previous imaging, and to perform high-precision fixed-point imaging. Here, only (1) manual setting processing + (3) correction processing based on imaging conditions + (2) correction processing based on subject position has been described, but in manual setting processing while viewing an image, It goes without saying that 1) manual setting processing + (3) correction processing based on imaging conditions and (1) manual setting processing + (2) correction processing based on subject position can be executed.

  Further, by combining the previous captured image with the imaging conditions related to the hue and the amount of light, it is possible to easily compare the subject 174 by fixed-point imaging. In this way, fixed-point imaging can be reproduced with high accuracy under imaging conditions equivalent to the previous imaging conditions without fixing the imaging device 300 for a long time. It becomes possible to grasp changes and differences due to the items more clearly.

  Furthermore, an imaging method for performing fixed-point imaging using the imaging apparatus 300 described above is also provided. However, in the imaging method described with reference to FIG. 9 in the first embodiment and the difference determination step S218, the difference between the imaging conditions is not determined, and the position on the screen of the subject 174 in the subject information and the current image data is determined. The only difference is whether or not the difference between the size and the size is within a predetermined range, and the other processes are substantially the same.

  Also provided are a program that causes a computer to function as the imaging device 300 and a storage medium such as a computer-readable flexible disk, magneto-optical disk, ROM, EPROM, EEPROM, CD, DVD, or BD that records the program. .

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  The present invention can be used in an imaging apparatus and an imaging method capable of capturing a fixed point of a subject.

DESCRIPTION OF SYMBOLS 100, 300 ... Imaging device 118 ... Image holding part 120 ... Position sensor 122 ... Azimuth angle sensor 124 ... Altitude sensor 126 ... Attitude angle sensor 140 ... Image control part 142 ... Storage control part 144, 344 ... Display control part 146, 346 ... Imaging condition acquisition unit 148 ... image data selection promotion unit 150 ... image data extraction unit 152, 352 ... image cutout unit 154 ... site selection promotion unit

Claims (13)

An imaging device that performs fixed-point imaging of a subject,
An imaging condition acquisition unit for acquiring a previous imaging condition including a plane position and an optical axis azimuth for which imaging is desired;
An imaging unit that images the subject and generates image data;
A position sensor for detecting a planar position of the imaging unit;
An azimuth angle sensor for detecting an optical axis azimuth angle of the imaging unit;
If the difference between the previous imaging condition and the current imaging condition based on the position sensor and the azimuth sensor is within a predetermined range, based on the difference between the previous imaging condition and the current imaging condition An image cutout unit that cuts out partial image data corresponding to the previous imaging condition;
An imaging apparatus comprising: An imaging device that performs fixed-point imaging of a subject,
An imaging condition acquisition unit that acquires previous subject information indicating the position and size of the subject desired to be imaged on the screen, and a previous imaging condition including a plane position and an optical axis azimuth desired to be imaged;
An imaging unit that images the subject and generates image data;
A position sensor for detecting a planar position of the imaging unit;
An azimuth angle sensor for detecting an optical axis azimuth angle of the imaging unit;
If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data is within a predetermined range, the previous imaging condition and An image cutout unit that cuts out partial image data corresponding to the previous imaging condition based on a difference between the position sensor and the current imaging condition based on the azimuth angle sensor;
An imaging apparatus comprising: An altitude sensor for detecting the altitude of the imaging unit;
A posture angle sensor for detecting a posture angle of the imaging unit;
Further comprising
The imaging apparatus according to claim 1, wherein the imaging condition includes an altitude and a posture angle of an imaging unit. An image holding unit that holds image data captured by the imaging unit in association with imaging conditions when the image data is captured;
The imaging apparatus according to claim 1, wherein the imaging condition acquisition unit acquires an imaging condition associated with image data held in the image holding unit. One or a plurality of images in which a difference between an imaging condition when the image data is captured and a desired imaging condition within a predetermined range is associated with the image data from the image data stored in the image storage unit An image data extraction unit for extracting data;
An image data selection facilitating section that allows a photographer to select one image data from the extracted one or more image data;
Further comprising
The imaging apparatus according to claim 4, wherein the imaging condition acquisition unit acquires an imaging condition associated with the selected image data.   The image cutout unit further compares the image data held in the image holding unit with current image data to obtain a displacement between images, and adjusts the cutout position of the partial image data. The imaging device according to any one of claims 1 to 5. An imaging device that performs fixed-point imaging of a subject,
An imaging condition acquisition unit that acquires previous imaging information including a position and a size of the object on the screen for which imaging is desired, and a previous imaging condition including a plane position and an optical axis azimuth for which imaging is desired;
An imaging unit that images the subject and generates image data;
A position sensor for detecting a planar position of the imaging unit;
An azimuth angle sensor for detecting an optical axis azimuth angle of the imaging unit;
If the difference between the acquired previous imaging condition and the current imaging condition based on the position sensor and the azimuth angle sensor is within a predetermined range, it is displayed on the subject screen indicated in the previous subject information. An image cutout unit that cuts out the partial image data corresponding to the previous image based on the difference between the position and size of the subject in the current image data on the screen and the size of the subject,
An imaging apparatus comprising: An imaging device that performs fixed-point imaging of a subject,
An imaging condition acquisition unit that acquires previous subject information indicating the position and size of the subject desired to be imaged on the screen;
An imaging unit that images the subject and generates image data;
If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data is within a predetermined range, based on the difference, An image cutout unit for cutting out partial image data corresponding to the previous image;
An imaging apparatus comprising: Further comprising a part selection promoting unit that allows the imager to select a part in the image data,
9. The imaging apparatus according to claim 6, wherein the image cutout unit obtains a displacement between images with respect to the selected part or another region excluding the selected part. . Acquire the previous imaging conditions including the plane position and optical axis azimuth where imaging is desired,
Detect the plane position of the imaging unit,
Detecting the optical axis azimuth of the imaging unit,
Image the subject to generate image data;
If the difference between the previous imaging condition and the current imaging condition based on the detected planar position and the optical axis azimuth is within a predetermined range, the difference between the previous imaging condition and the current imaging condition And cutting out the partial image data corresponding to the previous imaging condition. Obtain the previous subject information indicating the position and size of the subject desired to be imaged and the previous imaging conditions including the plane position and the optical axis azimuth desired to be imaged;
Detect the plane position of the imaging unit,
Detecting the optical axis azimuth of the imaging unit,
Image the subject to generate image data;
If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data is within a predetermined range, the previous imaging condition and An image pickup method comprising: cutting out partial image data corresponding to the previous image pickup condition based on a difference between the detected plane position and a current image pickup condition based on the optical axis azimuth. The previous subject information indicating the position and size of the subject desired to be imaged on the screen, and the previous imaging condition including the plane position and optical axis azimuth angle desired to be imaged;
Detect the plane position of the imaging unit,
Detecting the optical axis azimuth of the imaging unit,
Image the subject to generate image data;
If the difference between the previous imaging condition and the current imaging condition based on the detected planar position and the optical axis azimuth is within a predetermined range, the screen of the subject indicated in the previous subject information An imaging method, wherein partial image data corresponding to the previous image is cut out based on a difference between a position and a size and a position and size of a subject in a current image data on a screen. Obtain previous subject information indicating the position and size of the subject you want to capture on the screen,
Image the subject to generate image data;
If the difference between the position and size of the subject on the screen indicated in the previous subject information and the position and size of the subject in the current image data is within a predetermined range, based on the difference, An imaging method, wherein partial image data corresponding to the previous image is cut out.

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