JP2019124858A - Control device and control method for imaging apparatus - Google Patents

Abstract

To provide a control device for an imaging apparatus capable of capturing an imaging target, even when the positional information of the imaging target or the like has an error.SOLUTION: The control device for the imaging apparatus includes first acquisition means for acquiring the positional information of the imaging target, second acquisition means for acquiring positioning accuracy with respect to the positional information of the imaging target, first decision means for deciding an imaging field angle on the basis of the positional information of the imaging target and the positioning accuracy with respect to the positional information of the imaging target, and second decision means for deciding an imaging direction on the basis of the positional information of the imaging apparatus and the positional information of the imaging target.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a control device and control method of an imaging device.

  A technique has been proposed in which the imaging direction is calculated based on the position information of the imaging target received from the outside of the camera and the position information of the camera, and pan, tilt, and zoom (PTZ) of the camera are controlled. In addition, Geolocation API (Application Programming Interface) has been disclosed as a standard for unifying technology for calculating current position information of a device such as a camera by using position information acquisition technology of the device. As described above, techniques for handling position information have become commonplace, and use of position information is also being studied in surveillance cameras.

However, it is not possible to determine the optimum angle of view for imaging the imaging target only by the imaging target and the positional information of the camera. Even if the user specifies the angle of view or the imaging range, if there is an error in the position information of the camera or the acquired position information of the imaging target, there is a possibility that it is not possible to accurately acquire the range or imaging angle of view that you want to There is.
In Patent Document 1, even if there is an error in the position information acquired based on the GPS information, in order to accurately capture the imaging target, the imaging target is also used using the predicted trajectory of the imaging target and the position of the imaging target in the captured video. Predict and acquire location information of Then, the most probable position information is selected from the plurality of acquired position information.

JP, 2014-107791, A

In Patent Document 1, it is premised that the trajectory of the imaging target can be predicted (it is premised that the imaging target is an aircraft flying on a regular route), and furthermore, it is also premised that the imaging target always exists within the imaging angle of view. It has become. Therefore, when the imaging target moves irregularly, the technology of Patent Document 1 can not be used. Moreover, in patent document 1, it does not consider about the difference | error of the positional information in the camera side which may generate | occur | produce when a camera is mounted and carried in the mobile body.
Therefore, an object of the present invention is to provide a control device of an imaging apparatus capable of imaging an imaging target even when there is an error in position information of the imaging target and the like.

  In order to achieve the above object, a control device of an imaging device according to one aspect of the present invention acquires a first acquisition unit that acquires position information of an imaging target, and acquires positioning accuracy with respect to position information of the imaging target. A first determination unit that determines an imaging angle of view based on the acquisition unit of 2, the position information of the imaging device, the position information of the imaging target, and the positioning accuracy with respect to the position information of the imaging target; And second determining means for determining an imaging direction based on position information of the apparatus and position information of the imaging target.

  According to the present invention, even when there is an error in position information such as an imaging target, the imaging target can be imaged.

BRIEF DESCRIPTION OF THE DRAWINGS The network block diagram containing the surveillance camera which concerns on Embodiment 1 of this invention. FIG. 2 is a block diagram showing an internal configuration of a surveillance camera according to Embodiment 1. FIG. 2 is a hardware configuration diagram of the surveillance camera according to the first embodiment. FIG. 6 is a diagram for explaining a method of determining an imaging range according to the first embodiment. 6 is a flowchart showing a process of PTZ control of the imaging unit according to the first embodiment. The block diagram which showed the internal structure of the surveillance camera which concerns on Embodiment 2 of this invention. FIG. 8 is a diagram for explaining a feature area according to the second embodiment. 10 is a flowchart showing processing of PTZ control of an imaging unit according to a second embodiment. The figure which showed the determination method of the imaging angle of view based on the designated range from a user. The figure which showed the determination method of the imaging angle of view based on the characteristic area | region. The block diagram which showed the internal structure of the surveillance camera which concerns on Embodiment 3 of this invention. FIG. 8 is a block diagram showing an internal configuration of an external device according to a third embodiment. 10 is a flowchart showing a process of PTZ control of an imaging unit according to a third embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the attached drawings. The embodiment described below is an example as a realization means of the present invention, and it should be appropriately corrected or changed according to the configuration and various conditions of an apparatus or system to which the present invention is applied. It is not limited to the embodiment. Moreover, not all combinations of the features described in the present embodiment are essential to the solution means of the present invention.

Embodiment 1
Hereinafter, with reference to FIGS. 1 to 4, an imaging device provided with a control device according to Embodiment 1 of the present invention will be described. In the first embodiment, a surveillance camera will be described as an example of an imaging device. It is assumed that the surveillance target of the surveillance camera is a person. In the following description, a person may be referred to as an imaging target.
FIG. 1 is a network configuration diagram including a monitoring camera 100. As shown in FIG. The monitoring camera 100 and the client device 200 are connected in a mutually communicable state via the network 300. The client device 200 may be referred to as an external device. The client device 200 is, for example, a personal computer, a laptop computer, a tablet terminal or the like.
The client device 200 can transmit control commands such as PTZ control to the monitoring camera 100. When the monitoring camera 100 receives a control command, the monitoring camera 100 transmits a response to the control command to the client device 200.

(Configuration of surveillance camera)
FIG. 2A is a functional block diagram showing the configuration of the monitoring camera 100. As shown in FIG. The monitoring camera 100 includes a control unit 101, a storage unit 102, an imaging control unit 103, an imaging unit 104, an imaging optical system 105, an imaging control calculation unit 106, a position information acquisition unit 107, and a positioning accuracy acquisition unit And a communication unit 109. The control device 110 of the monitoring camera 100 includes an imaging control unit 103, an imaging control calculation unit 106, a position information acquisition unit 107, and a positioning accuracy acquisition unit 108.
The control unit 101 controls the entire surveillance camera 100. The control unit 101 is configured of one or more processors (such as a CPU), and controls the entire operation of the monitoring camera 100 by executing a control program stored in the storage unit 102.

The storage unit 102 stores various data and information. Specifically, the storage unit 102 is a program executed by the control unit 101, a setting value (specified value), image data generated by the imaging unit 104, installation information of the monitoring camera 100, and a position acquired by the position information acquisition unit 107. Stores information etc. The storage unit 102 is also used as a work area during program execution. The storage unit 102 is configured of, for example, a storage medium such as a ROM, a RAM, an HDD, a flash memory, or a removable SD card.
The imaging control unit 103 controls the imaging range of the imaging unit 104 according to the pan, tilt, and zoom values transmitted from the imaging control calculation unit 106 under the control of the control unit 101.

  The imaging unit 104 outputs a captured image acquired by the imaging optical system 105 of the monitoring camera 100 to the storage unit 102. Specifically, the imaging unit 104 converts an analog signal acquired by capturing an image of an imaging target, which is imaged by the imaging optical system 105 of the monitoring camera 100, into digital data, and stores the digital signal as a captured image in the storage unit 102. Output. The imaging unit 104 includes, for example, a CCD sensor or a CMOS sensor. The imaging unit 104 also includes a circuit that performs sampling, an A / D converter, and the like. CCD is an abbreviation of Charge Coupled Device. CMOS is an abbreviation of Complementary Metal Oxide Semiconductor.

The imaging optical system 105 includes a plurality of lenses (for example, a zoom lens and a focus lens) and an aperture stop (a light blocking mechanism).
The imaging control calculation unit 106 acquires the imaging direction from the position information and positioning accuracy of the monitoring camera (error of the position information) acquired from the position information acquisition unit 107 and the positioning accuracy acquisition unit 108 and the position information and positioning accuracy of the imaging target. And calculate the imaging angle of view. Alternatively, the imaging control calculation unit 106 may obtain the imaging direction from the position information and positioning accuracy of the monitoring camera (error of the position information) acquired from the external device 200 via the communication unit 109 and the position information and positioning accuracy of the imaging target. And calculate the imaging angle of view. The imaging control calculation unit 106 can receive a PTZ control command or the like from the external device 200. The imaging control calculation unit 106 calculates an imaging direction and an imaging angle of view triggered by acquisition of position information, acquisition of positioning accuracy, reception of a PTZ control command from the external device 200, etc. Send to When calculating the imaging angle of view, for example, the imaging control calculation unit 106 first determines an imaging range according to the positioning accuracy, and calculates an imaging angle of view based on the imaging range.

(How to determine the imaging range)
Here, a method of determining the imaging range in the imaging control calculation unit 106 will be described with reference to FIG.
FIG. 3 shows the monitoring camera 100 and the imaging range 120. The monitoring camera 100 determines an imaging range 120 so that an imaging target (person) 121 having position information can be imaged. The monitoring camera 100 (more specifically, the imaging control calculation unit 106) acquires position information from the imaging target 121, but may acquire position information 122 indicating a point different from the true position of the imaging target 121 at that time. . In the present embodiment, the monitoring camera 100 (imaging control calculation unit 106) further acquires a positioning accuracy (error of positional information) R with respect to the acquired positional information 122 of the imaging target 121. In the present embodiment, the positioning accuracy R is, for example, 200 cm, and a range 123 having the positioning accuracy R as a radius centering on the position information 122 is referred to as a positioning accuracy range. The positioning accuracy R is a value (compensation value, correction value) such that the imaging target 121 exists in the range 123 of the positioning accuracy. Thereafter, the monitoring camera 100 (the imaging control calculation unit 106) determines the imaging range 120 so that the entire range 123 of the positioning accuracy can be imaged. The imaging control calculation unit 106 calculates the imaging angle of view 124 based on the determined imaging range 120. That is, the imaging control calculation unit 106 calculates, as the imaging angle of view, an angle of view in which the entire range according to the positioning accuracy R can be imaged with the position represented by the position information 121 acquired by the position information acquiring unit 107 as a center.

  Return to FIG. 2A. The positional information acquisition unit 107 acquires positional information (information representing a position) by receiving positional information of the monitoring camera 100 or receiving positional information of the imaging target 121. The position information to be acquired is, for example, latitude, longitude, altitude and the like. The position information acquisition unit 107 acquires position information using, for example, a global positioning system (GPS), a wireless LAN device, a Bluetooth (registered trademark) device, or the like. The GPS or the like generates position information from radio wave arrival time and radio wave intensity. GPS is an abbreviation of Global Positioning System. The GPS, the wireless LAN device, the Bluetooth device, and the like will be referred to as a position information providing device in the following description. The position information providing apparatus generates (calculates) position information by receiving radio waves emitted by one or more transmitters provided in the position information providing apparatus, for example. Since positioning technology (position information acquisition technology) using GPS, wireless LAN, Bluetooth, etc. is a known technology, detailed description will be omitted. For example, when the imaging target 121 having position information falls within a predetermined area, the position information acquisition unit 107 may automatically acquire position information of the imaging target 121.

When the imaging target 121 has position information (for example, when a human carries a smartphone), the imaging target 121 directly transmits the position information of the imaging target 121 to the monitoring camera 100 (position information acquisition unit 107). It is also good. That is, the position information acquisition unit 107 may acquire the position information of the imaging target from the imaging target. Alternatively, the position information acquisition unit 107 may acquire the position information of the imaging target 121 by receiving the position information of the imaging target 121 acquired by the external device 200 via the communication unit 109.
The positioning accuracy acquisition unit 108 acquires the positioning accuracy of the monitoring camera 100 and the positioning accuracy of the imaging target 121. The calculation accuracy (positioning accuracy) of GPS, wireless LAN, and Bluetooth that calculate (provide) position information is an error factor (changes in radio wave intensity due to the environment and weather around radio wave reception side, number of transmitters that received radio waves, etc.) It changes with The positioning accuracy can be estimated (calculated) using the number of transmitters that can receive the radio wave, the radio wave arrival time, the radio wave intensity, and the like. For example, when an imaging target having position information falls within a predetermined area, the positioning accuracy acquisition unit 108 may automatically acquire the positioning accuracy of the imaging target 121.

When the imaging target 121 has the positioning accuracy of the imaging target, the imaging target 121 may directly transmit the positioning accuracy of the imaging target 121 to the monitoring camera 100 (positioning accuracy acquisition unit 108). That is, the positioning accuracy acquisition unit 108 may acquire the positioning accuracy for the position information of the imaging target from the imaging target. Alternatively, the positioning accuracy acquisition unit 108 may acquire the positioning accuracy of the imaging target 121 by receiving the positioning accuracy from the external device 200 via the communication unit 109.
The communication unit 109 receives position information of an imaging target and control commands from the external device 200. In addition, the communication unit 109 transmits, to the external device 200, data such as a response to each control command and image data stored in the storage unit 102. When the communication unit 109 receives (acquires) a control command from the external device 200, the communication unit 109 transmits a control command reception event to the control unit 101.
As mentioned above, although the structure of the monitoring camera 100 was demonstrated using FIG. 2A, the structure shown to FIG. 2A is an example, and the structure of the monitoring camera 100 is not this limitation. For example, the monitoring camera 100 may include a video analysis unit, an audio input unit, an audio output unit, and the like.

(Hardware configuration of surveillance camera)
FIG. 2B shows the hardware configuration of the monitoring camera 100. The monitoring camera 100 includes a CPU 151, a ROM 152, a RAM 153, a network interface 154, an imaging device 155, an input unit 156, and an external memory 157. The parts (151 to 157) of the surveillance camera 100 are mutually connected by a bus 158.
The CPU 151 is a control device that centrally controls the monitoring camera 100. The CPU 151 controls each component (152 to 157).
The ROM 152 stores programs and the like necessary for the CPU 151 to execute processing. The CPU 151 executes the processing based on the program stored in the ROM 152, whereby the above-described functional configuration of the monitoring camera 100 and processing steps (FIG. 4) to be described later are realized. The program and the like may be stored in the external memory 157 or a removable storage medium (not shown).
The RAM 153 is a memory for developing a program read from the ROM 152 by the CPU 151 and executing processing. The RAM 153 is also used as a temporary storage memory for temporarily storing data to be processed.

The network interface 154 is a circuit that communicates with the external device 200 via a network. For example, the network interface 154 is used when transmitting a captured image or information to the outside. The network interface 154 is, for example, a wireless LAN interface.
The imaging device 155 is a device having an image sensor that captures an object as a moving image and a still image. The imaging device 155 can adjust shooting conditions such as an angle of view and a shooting direction. The imaging device 155 also has a pan, tilt, and zoom mechanism, and executes pan, tilt, and zoom (telephoto control / wide-angle control) operations under the control of the CPU 151. The imaging device 155 includes a member of an optical system such as a lens, a CMOS image sensor, and a CCD image sensor, and captures an image of a subject. For example, the imaging device 155 can acquire an image of 30 frames per second and acquire a 30 fps (frame per second) moving image. In the present embodiment, the imaging device 155 (imaging unit 104) transmits the video image acquired from the imaging device 155 to the H.264 system. It also has a function of converting (encoding) it into digital image data that can be distributed over the network such as H.264.

The input unit 156 includes a power button, a ten key, and the like. The user of the surveillance camera 100 can give an instruction to the surveillance camera 100 via the input unit 156. The input unit 156 may be referred to as a user interface. For example, the user of the monitoring camera 100 can input the position information of the monitoring camera 100 to the ROM 152 or the external memory 157 (the storage unit 102 of FIG. 2A) via the input unit 156.
The external memory 157 stores, for example, various data, information, and the like necessary when the CPU 151 executes a process using a program. The external memory 157 also stores various data and information obtained by the CPU 151 executing processing using a program.

(PTZ control of imaging unit)
Next, processing of PTZ control of the imaging unit 104 performed by the control device 100 according to the present embodiment will be described in detail with reference to the flowchart in FIG. 4. In the following description, S is an abbreviation of Step.
The flowchart of FIG. 4 is realized by the functional modules of the control device 101 shown in FIG. When the functional module is software, the CPU configuring the control unit 101 executes the program to realize the processing of the software. It is assumed that the position information of the monitoring camera 100 and the positioning accuracy are stored in the storage unit 102.
In S401, the monitoring camera 100 (position information acquisition unit 107) receives the position information of the imaging target 121 from the position information providing device. The position information acquisition unit 107 stores the received position information of the imaging target 121 in the storage unit 102. The position information stored in the storage unit 102 is used by the imaging control calculation unit 106.

In S402, the positioning accuracy acquisition unit 108 acquires the positioning accuracy R for the position information of the imaging target 121. When the monitoring camera 100 receives the position information of the imaging target 121 in S401, the positioning accuracy acquisition unit 108 also receives the positioning accuracy from the position information providing device. Then, the positioning accuracy acquisition unit 108 acquires the positioning accuracy R by the reception. The positioning accuracy acquisition unit 108 stores the acquired positioning accuracy R in the storage unit 102. The stored positioning accuracy is used by the imaging control calculation unit 106.
The positioning accuracy acquisition unit 108 may acquire the positioning accuracy R stored in advance in the storage unit 102 from the storage unit 102. For example, if the change in the positioning accuracy R is predicted to be minute, and the monitoring camera 100 (storage unit 102) holds the positioning accuracy R in advance, the positioning accuracy acquisition unit 108 acquires the positioning accuracy from the storage unit 102. You can get R. If the change in the positioning accuracy R is predicted to be minute and the external device 200 holds the positioning accuracy R in advance, the positioning accuracy obtaining unit 108 may obtain the positioning accuracy R from the external device 200. it can. In such a case, the monitoring camera 100 may not receive the positioning accuracy R from the position information providing device.

In addition, if the monitoring camera 100 stores a plurality of positioning accuracies R in advance in the storage unit 102, the positioning accuracy acquisition unit 108 determines the type of position information providing device of the imaging target 121 (GPS, wireless LAN, Bluetooth, etc.) One positioning accuracy R can also be selected according to.
When the positioning accuracy acquisition unit 108 acquires the positioning accuracy in S402 and the positioning accuracy is held (stored) in the storage unit 102 before S402, the positioning accuracy acquisition unit 108 stores the storage content of the storage unit 102. The positioning accuracy calculated in S402 is updated.

In S403, the position information acquisition unit 107 determines whether the position information of the monitoring camera 100 needs to be updated. The position information acquisition unit 107 makes this determination based on the camera installation information stored in the storage unit 102. The camera installation information includes information on the initial installation position of the surveillance camera 100 and information on whether the surveillance camera 100 is fixed or movable. When the position of the monitoring camera 100 can be changed (for example, when the monitoring camera 100 is not installed at a fixed position, when it is held by a person, or when it is attached to a mobile object such as a car) It is determined that the position information needs to be updated. When the determination result of S403 is Yes, it progresses to S404. If the position of the monitoring camera 100 does not change (for example, if it is installed at a fixed position), the position information of the monitoring camera 100 does not change, so the processing proceeds to S406.
In S404, the position information acquisition unit 107 updates the position information of the monitoring camera 100. The latest position information of the monitoring camera 100 can be obtained by positioning using GPS, positioning using a wireless LAN, Buletooth or the like. The position information acquisition unit 107 updates the position information stored in advance in the storage unit 102 by storing the acquired latest position information in the storage unit 102. The latest position information stored is used by the imaging control calculation unit 106.

In S405, the positioning accuracy acquisition unit 108 acquires / updates the positioning accuracy for the position information of the monitoring camera 100. When the monitoring camera 100 receives the latest position information of the monitoring camera 100 from the position information providing apparatus such as GPS in S404, the positioning accuracy acquisition unit 108 also receives the latest positioning accuracy, thereby obtaining the latest positioning accuracy. get. Then, the positioning accuracy acquisition unit 108 updates the positioning accuracy stored in the storage unit 102 to the latest positioning accuracy.
If it is not necessary to update the positioning accuracy, the positioning accuracy acquisition unit 108 may acquire the positioning accuracy stored in advance in the storage unit 102 from the storage unit 102. For example, if the change in the positioning accuracy is predicted to be minute, the positioning accuracy acquisition unit 108 may acquire the positioning accuracy from the storage unit 102. Further, if it is predicted that the change in positioning accuracy is minute and the external device 200 holds the positioning accuracy in advance, the positioning accuracy acquisition unit 108 can acquire the positioning accuracy from the external device 200.

In S406, the imaging control calculation unit 106 calculates an imaging angle of view based on the position information and the positioning accuracy of the monitoring camera 100, and the position information and the positioning accuracy of the imaging target 121. First, the imaging control calculation unit 106 calculates the distance between the monitoring camera 100 and the imaging target based on the position information of the monitoring camera 100 and the position information of the imaging target. Then, based on the calculated distance, the positioning accuracy of the monitoring camera 100, and the positioning accuracy R of the imaging target 121, the imaging control calculation unit 106 calculates an imaging angle of view using a trigonometric function. The imaging control calculation unit 106 transmits the calculated imaging angle of view to the imaging control unit 103.
In S <b> 407, the imaging control calculation unit 106 calculates the imaging direction based on the position information of the monitoring camera 100 and the position information of the imaging target 121. More specifically, based on the points (latitude, longitude, altitude) represented by the position information of the monitoring camera 100 and the points (latitude, longitude, altitude) represented by the position information of the imaging target 121, the imaging control calculation unit 106 Calculate the imaging direction in the world coordinate system. Thereafter, the imaging control calculation unit 106 calculates pan and tilt values of the imaging unit 104 based on the calculated imaging direction, and transmits the pan and tilt values to the imaging control unit 103.

In S408, the imaging control unit 103 controls the imaging range (PTZ) of the imaging unit 104 using the imaging angle of view calculated in S406 and the pan and tilt values calculated in S407. If the acquired imaging angle of view, pan and tilt values exceed the controllable range, the imaging control unit 103 rounds the imaging angle of view, pan and tilt values into the controllable range, and the imaging range Control may be performed. Alternatively, the imaging control unit 103 may move the pan and tilt of the monitoring camera 100 continuously so that the entire imaging range can be imaged. Alternatively, the imaging control unit 103 may notify the external device 200 of a message to that effect from the communication unit 109 without executing control of the imaging range.
The process of the PTZ control of the imaging unit 104 has been described above with reference to FIG. 4, but the flowchart shown in FIG. 4 is a description of a preferable example, and the PTZ control of the imaging unit 104 of this embodiment It is not limited.

(Effect of Embodiment 1)
In the first embodiment, not only using positional information of the monitoring camera 100 and the imaging target 121 received by the monitoring camera 100 but also using positioning accuracy of the monitoring camera 100 and the imaging target 121, imaging directions (pan and tilt values) The imaging angle of view is calculated. Then, PTZ control of the imaging unit 104 of the monitoring camera 100 is performed based on the calculated imaging direction and imaging angle of view. Accordingly, even when the position information 122 does not accurately indicate the position of the imaging target 121, the imaging range 120 in which the imaging target 121 can be imaged can be set. Therefore, the monitoring camera 100 can capture an image of the imaging target 121 even when there is an error in the position information 122. In addition, even when the position information of the monitoring camera 100 does not accurately indicate the position of the monitoring camera 100, the imaging range 120 in which the imaging target 121 can be imaged can be set. Therefore, the monitoring camera 100 can capture an image of the imaging target 121 even when there is an error in the position information of the monitoring camera 100. That is, as a result of the imaging target moving irregularly or the monitoring camera moving, the imaging target can be accurately imaged even when there is an error in the position information of the imaging target or the monitoring camera.
Further, even when the monitoring camera 100 moves, the position information of the monitoring camera is appropriately updated in S404 of FIG. 4, so that the latest position information of the monitoring camera can be always used.

(Modification)
Although the control device 110 is provided in the monitoring camera 100 in FIG. 2, the control device 110 may be provided outside the monitoring camera 100.
Although the control device 110 includes the imaging control unit 103, the imaging control calculation unit 106, the position information acquisition unit 107, and the positioning accuracy acquisition unit 108, the imaging control unit 103 may not be a component of the control device 110. This is because the values necessary for PTZ control of the imaging unit 104 are calculated and acquired by the imaging control calculation unit 106, the position information acquisition unit 107, and the positioning accuracy acquisition unit 108.
Although S402 is described after S401 in the flowchart of FIG. 4, S402 may be executed simultaneously with S401.

Although the monitoring camera has been described as an example of the imaging apparatus in the present embodiment, the present embodiment can be applied to an imaging apparatus other than the monitoring camera.
Although the external device 200 is connected to the monitoring camera 100 via the network 300, the external device 200 may be connected to the monitoring camera 100 without via the network 300.
In S406, the imaging control calculation unit 106 calculates the imaging angle of view based on the position information and the positioning accuracy of the monitoring camera 100, and the position information and the positioning accuracy of the imaging target 121, but the calculation of the imaging angle of view It is not limited to such calculations. For example, when the accuracy (reliability) of the position information of the monitoring camera 100 is high, the imaging control calculation unit 106 does not use the positioning accuracy of the position information of the monitoring camera 100, and the position information of the monitoring camera The imaging angle of view may be calculated based on the position information and the positioning accuracy.
If the determination result in S403 is No, the process may proceed to S405 instead of S406.

Embodiment 2
Hereinafter, with reference to FIG. 1 and FIGS. 5-9, surveillance camera 100A provided with control device 110A by Embodiment 2 of the present invention is explained. About the same structure as Embodiment 1, the same referential mark is attached and detailed explanation is omitted. The storage unit 102 of the first embodiment is the storage unit 102A in the second embodiment, and the imaging control calculation unit 106 of the first embodiment is the imaging control calculation unit 106A in the second embodiment. The surveillance camera 100 </ b> A of the second embodiment is provided with the video analysis unit 111. In the first embodiment, PTZ control is performed based on the position information and the positioning accuracy. However, in the second embodiment, after performing the PTZ control based on the position information and the positioning accuracy, the feature area (the area to be noticed most ) Is detected, and PTZ processing is performed again based on the feature area. In the present embodiment, since the person is the imaging target (monitoring target) 121, it is assumed that the feature region, which is the region to which the monitoring camera 100A should focus most, is the region of the person 121 in the captured image.

(Configuration of surveillance camera)
FIG. 5 is a functional block diagram showing the configuration of the surveillance camera 100A of the second embodiment. The monitoring camera 100A includes a control unit 101, a storage unit 102A, an imaging control unit 103, an imaging unit 104, an imaging optical system 105, an imaging control calculation unit 106A, a position information acquisition unit 107, a positioning accuracy acquisition unit 108, a communication unit 109, and an image. The analysis unit 111 is provided. The control unit 101, the imaging control unit 103, the imaging unit 104, the imaging optical system 105, the position information acquisition unit 107, the positioning accuracy acquisition unit 108, and the communication unit 109 are the same as in the first embodiment (FIG. 2). The control device 110A of the monitoring camera 100A includes an imaging control unit 103, an imaging control calculation unit 106A, a position information acquisition unit 107, a positioning accuracy acquisition unit 108, and a video analysis unit 111.
The storage unit 102A mainly includes a program executed by the control unit 101, a setting value (specified value), image data (captured image) generated by the imaging unit 104, position information acquired by the position information acquisition unit 107, and a video analysis unit 111. Stores various data such as the video analysis result acquired in The storage unit 102A is also used as a work area during program execution.

  The imaging control calculation unit 106A acquires the imaging direction and the imaging range from the position information and the positioning accuracy of the monitoring camera 100A and the position information and the positioning accuracy of the imaging target 121 acquired from the position information acquisition unit 107 and the positioning accuracy acquisition unit 108. calculate. Alternatively, the imaging control calculation unit 106A acquires the imaging direction and the imaging range from the position information and the positioning accuracy of the monitoring camera 100A and the position information and the positioning accuracy of the imaging target 121 acquired from the external device 200 via the communication unit 109. calculate. Then, the imaging control calculation unit 106A calculates the imaging direction and the imaging range based on the video analysis result acquired by the video analysis unit 111. The imaging control calculation unit 106A can receive a PTZ control command or the like from the external device 200. The imaging control calculation unit 106A calculates an imaging direction and an imaging range triggered by acquisition of position information, acquisition of positioning accuracy, acquisition of video analysis results, reception of PTZ control commands from the external device 200, etc. It is transmitted to the imaging control unit 103.

The video analysis unit 111 analyzes the captured image (video) stored in the storage unit 102A, and detects a feature area (person) from the captured image. As shown in FIG. 6A, when a person 121 is detected, a circumscribed rectangle Q surrounding the person 121 is determined. When detecting the feature area, the video analysis unit 111 uses moving object detection using a background difference method, an inter-frame difference method, or the like, detection of an attention area (feature area) based on calculation of saliency, and the like. The detection of feature regions based on motion detection and saliency calculation is a known technique, and thus detailed description will be omitted. The video analysis unit 111 transmits the information of the detected feature area (the acquired video analysis result) to the storage unit 102A and the imaging control calculation unit 106A. Also, the video analysis unit 111 may transmit information of the detected feature area (the acquired video analysis result) to the external device 200 via the communication unit 109.
The configuration of the monitoring camera 100A has been described above using FIG. 5, but the configuration shown in FIG. 5 is an example, and the configuration of the monitoring camera 100A is not limited to this. For example, the monitoring camera 100A may include an audio input unit and an audio output unit.

(PTZ control of imaging unit)
Next, processing of PTZ control of the imaging unit 104 performed by the control device 110A of the present embodiment will be described in detail with reference to the flowchart of FIG. The flowchart of FIG. 7 is realized by the functional modules of the control device 110A shown in FIG. When the functional module is software, the CPU constituting the control unit 101 executes the program to realize the processing of the flowchart.
S701 is a process of controlling the imaging range (PTZ) based on the position information and the positioning accuracy. Since the process of S701 is the same as that of Embodiment 1 (S401 to S408 in FIG. 4), the description will be omitted.
In S702, the video analysis unit 111 detects a feature area by video analysis. The video analysis is performed on the captured image (FIG. 6A) acquired in the imaging range controlled by the process of S701. As described above, the detection of the feature area utilizes moving object detection, attention area detection by saliency calculation, or the like. As shown in FIG. 6A, the video analysis unit 111 determines a region (feature region 121) to be most noticed by video analysis, and calculates (acquires) the coordinates of the circumscribed rectangle Q in the determined feature region. Then, the video analysis unit 111 transmits the coordinates of the circumscribed rectangle Q to the storage unit 102A and the imaging control calculation unit 106A.

  In S703, the imaging control calculation unit 106A determines whether there is a value (designated value) designated for the imaging angle of view or the width and height of the imaging range. For example, the user of the external device 200 designates a designated value (setting value) of the width and height of the imaging angle of view or the imaging range. In this case, when the external device 200 transmits a PTZ control command to the monitoring camera 100A, the external device 200 transmits the designated value input by the user to the monitoring camera 100A. The setting value stored in advance in the storage unit 102A of the monitoring camera 100A can also be used as a designated value of the imaging angle of view or the width and height of the imaging range. If there is a designated value, the process advances to step S704 to determine the imaging angle of view based on the designated value. If there is no designated value, the process advances to step S705 to determine the imaging angle of view based on the feature area.

  In S704, the imaging control calculation unit 106A determines the imaging angle of view based on the imaging angle of view or the designated values of the width and height of the imaging range. When the value of the imaging angle of view is designated (when there is a designated value), it is not necessary to calculate in S704. That is, the imaging control calculation unit 106A determines to set the designated value as the imaging angle of view, and transmits the designated value to the imaging control unit 103. If the width and height of the imaging range are designated (if there is a designated value), the imaging control calculation unit 106A calculates the imaging angle of view at the position of the received imaging target based on the designated value. The imaging control calculation unit 106A determines that the calculated imaging angle of view is to be the imaging angle of view in S704, and transmits the imaging angle of view to the imaging control unit 103. The designated value of the imaging angle of view is, for example, a value larger by a predetermined value than the angle of view in which only a person can be imaged. The specified values of the width and height of the imaging range are also, for example, values larger than the values of the width and height at which only a person can be imaged by a predetermined value.

(How to determine the imaging angle of view)
Here, a specific example of determining the imaging angle of view 131 based on the width of the imaging range specified using FIG. 8 will be described. Reference numeral 122 denotes position information received by the monitoring camera 100A from the position information providing apparatus as position information of the imaging target 121. Reference numeral 132 is the width of the designated imaging range. The width 132 of the imaging range is a width parallel to the monitoring camera 100A with the position information 122 at the center.
First, based on the position information of the monitoring camera 100A and the position information 122 of the imaging target 121, the distance 133 from the monitoring camera 100A to the position information 122 is calculated. Thereafter, using the distance 133 and the width 132, the imaging angle of view 131 is calculated by a trigonometric function. The imaging angle of view 131 can be calculated based on the designated width 132 by the above method.
Return to FIG. In S705, the imaging control calculation unit 106A determines (adjusts) the imaging angle of view based on the coordinates of the circumscribed rectangle Q of the feature area. For example, the imaging control calculation unit 106A sets in advance the ratio of the feature area (the circumscribed rectangle) in the imaging range after control (after the control of the imaging range in S705), and this ratio and the characteristic area acquired in S702. Based on the coordinates of the circumscribed rectangle Q, the imaging angle of view is calculated. The imaging control calculation unit 106A may calculate the imaging angle of view by another method. The imaging control calculation unit 106A transmits the calculated imaging angle of view to the imaging control unit 103.

(Determination of imaging angle of view based on feature area)
Here, a specific example of a method of determining (adjusting) the imaging angle of view based on the feature area will be described with reference to FIG. A dashed line frame (imaging range) 141A in FIG. 9A is an imaging range obtained by performing the process of S701, and a dashed line frame 141A is an imaging range determined based on the position information and the positioning accuracy. The solid line frame 142A is a circumscribed rectangle of the feature area in the imaging range 141A. The broken line frame (imaging range) 141B in FIG. 9B indicates the imaging range after control (after the process of S705).
First, the imaging control calculation unit 106A calculates the ratio of the circumscribed rectangle of the feature area in the imaging range after the imaging range control (after the processing of S705) (for example, the vertical pixel count 144B of the circumscribed rectangle of the characteristic region is the length of the imaging range 90% of the pixel count 143B is set in advance. Then, the imaging control calculation unit 106A calculates the ratio of the number of vertical pixels of the solid line frame (the circumscribed rectangle of the feature area) 142A to the number of vertical pixels of the dashed line frame (current imaging range) 141A in FIG. Thereafter, the imaging control calculation unit 106A determines the imaging range 141B such that the ratio of the circumscribed rectangle of the feature area in the imaging range becomes the above-described set ratio (90%). For example, in FIG. 9A, if the vertical pixel count 143A of the imaging range 141A is 540 pixels and the vertical pixel count 144A of the circumscribed rectangle 142A of the feature area is 270 pixels, the ratio is 50%. In order to set this ratio to 90% after imaging range control (after processing of S 705: FIG. 9B), the characteristic region with respect to 540 pixels of the vertical pixel number 143B of the imaging range 141B of FIG. The imaging range 141B is determined such that the number of vertical pixels 144B of the pixel is 486 pixels. Then, the imaging control calculation unit 106A calculates an imaging angle of view based on the determined imaging range 141B. The number of vertical pixels in the feature area is changed from 270 pixels to 486 pixels because the image of the feature area is enlarged and imaged (zoomed up).

Return to FIG. In S706, the imaging control calculation unit 106A determines the imaging direction based on the feature area. The imaging control calculation unit 106A calculates the center coordinates of the circumscribed rectangle of the feature area from the coordinates of the circumscribed rectangle Q of the feature area acquired in S702, and the center coordinates of the circumscribed rectangle of the feature area is the center of the imaging range after imaging range control. The imaging direction is determined so that the pan and tilt values are calculated. Thereafter, the imaging control calculation unit 106A transmits the calculated pan and tilt values to the imaging control unit 103.
In S707, the imaging control unit 103 controls the imaging range (PTZ) of the imaging unit 104 using the imaging angle of view calculated and determined in S704 or S705 and the pan and tilt values calculated in S706.
If the acquired imaging angle of view, pan and tilt values exceed the range that can be imaged by the monitoring camera 100A, the imaging control unit 103 may, for example, control the imaging angle of view, pan and tilt values to a controllable range. , And control of the imaging range may be performed. Alternatively, the imaging control unit 103 may move the pan and tilt of the monitoring camera 100A continuously so that the entire imaging range can be imaged. When the acquired imaging angle of view, pan and tilt values exceed the controllable range, the imaging control unit 103 does not execute control of the imaging range, and sends a message to that effect from the communication unit 109 to the external device 200. You may notify

FIG. 6B illustrates the monitoring camera 100A, the imaging target 121, and the imaging range 120A after the PTZ control of S707 is performed. As compared with the imaging range 120 of FIG. 6A, the imaging range 120A of FIG. 6B can capture the imaging target 121 at a narrow angle of view.
As shown in FIG. 8, when the process of S704 is completed, the imaging target 121 may not be in the imaging range 134, but the imaging range 134 is corrected to the imaging range 120A of FIG. Be done. Thus, the monitoring camera 100A can capture an image of the imaging target 121 at a narrower angle of view.
The process of the PTZ control of the imaging unit 104 has been described above with reference to FIG. 7, but the flowchart illustrated in FIG. 7 is a description of a preferable example, and the PTZ control of the imaging unit 104 of this embodiment It is not limited.

(Effect of Embodiment 2)
In the second embodiment, first, the imaging direction and the imaging angle of view are acquired based on the position information of the monitoring camera received by the monitoring camera 100A, the position information of the imaging target, and the positioning accuracy of each, and the acquired imaging direction and imaging image PTZ control of the imaging unit 104 of the surveillance camera 100A is performed based on the corner. Although this PTZ control is the same as that of the first embodiment, in the second embodiment (after S701), the acquired captured image is analyzed to detect (extract) a characteristic region. Then, PTZ control of the imaging unit 104 is performed again based on the characteristic region. That is, in the second embodiment, the imaging angle of view and the imaging direction determined once are adjusted based on the feature region. By the adjustment, the person who is the imaging target can be imaged as a larger image, and the visibility of the imaging target is improved.

(Modification)
In the second embodiment, the feature area is the area of the person 121 in the captured image, but the feature area of the present embodiment is not limited to this. The feature area may be an area having a predetermined feature in the captured image. For example, the feature area may be an area of any moving object that can be detected by a moving object detection technique. In addition, the feature region may be any region having saliency in the captured image.
Although the control device 110A includes the imaging control unit 103, the imaging control calculation unit 106A, the position information acquisition unit 107, the positioning accuracy acquisition unit 108, and the video analysis unit 111, the imaging control unit 103 is a component of the control device 110. You do not have to

Embodiment 3
The control device 110B of the surveillance camera 100B according to the third embodiment of the present invention will be described below with reference to FIGS. 1 and 10 to 12. About the same structure as Embodiment 1, the same referential mark is attached and detailed explanation is omitted. The storage unit 102 in the first embodiment is the storage unit 102B in the third embodiment, the imaging control unit 103 in the first embodiment is the imaging control unit 103B in the third embodiment, and the communication unit 109 in the first embodiment is the communication unit in the third embodiment. It is 109B. Further, the imaging control calculation unit 106, the position information acquisition unit 107, and the positioning accuracy acquisition unit 108 of the first embodiment are not provided in the monitoring camera 100B of the third embodiment. The control device 110 of the first embodiment is provided in the monitoring camera, but the control device 110B of the third embodiment is provided in the external device 200. That is, in the third embodiment, the external device 200 is configured to perform setting value calculation based on the position information and the positioning accuracy.

(Configuration of surveillance camera)
FIG. 10 is a functional block diagram showing the configuration of the surveillance camera 100B of the third embodiment. The monitoring camera 100B includes a control unit 101, a storage unit 102B, an imaging control unit 103B, an imaging unit 104, an imaging optical system 105, and a communication unit 109B. The control unit 101, the imaging unit 104, and the imaging optical system 105 are the same as in the first embodiment (FIG. 2).
The storage unit 102B stores various data and information. Specifically, the storage unit 102B stores a program executed by the control unit 101, a setting value (specified value) received by the communication unit 109B from the external device 200, image data generated by the imaging unit 104, and the like. The storage unit 102B is also used as a work area during program execution.
The imaging control unit 103B controls the imaging range of the imaging unit 104 according to the pan, tilt, and zoom values transmitted from the external device 200 via the communication unit 109B under the control of the control unit 101.

The communication unit 109B receives, from the external device 200, set values such as PTZ and control commands. Also, the communication unit 109B transmits various data such as a response to each control command and image data stored in the storage unit 102B to the external device 200. When the communication unit 109B receives (acquires) a control command from the external device 200, the communication unit 109B transmits a control command reception event to the control unit 101. When the communication unit 109B receives the setting value from the external device 200, the communication unit 109B transmits the setting value to the storage unit 102B, and stores the setting value in the storage unit 102B.
The configuration of the monitoring camera 100B has been described above using FIG. 10, but the configuration shown in FIG. 10 is an example, and the configuration of the monitoring camera 100B is not limited to this. For example, the monitoring camera 100B may include a position information acquisition unit, a video analysis unit, an audio input unit, an audio output unit, and the like.

(Configuration of external device)
Next, the configuration of the external device 200 according to the present embodiment will be described with reference to the functional block diagram of FIG. The external device 200 includes a control unit 201, a storage unit 202, a display unit 203, an input unit 204, a setting value calculation unit 205, a position information acquisition unit 206, a positioning accuracy acquisition unit 207, and a communication unit 208. The control device 110B of the monitoring camera 100B of the third embodiment is provided in the external device 200. The control device 110 </ b> B includes the setting value calculation unit 205, the position information acquisition unit 206, the positioning accuracy acquisition unit 207, and the communication unit 208.
The control unit 201 controls the entire external device 200. The control unit 201 is configured by one or more processors (CPU and the like), and controls the entire operation of the external device 200 by executing a control program stored in the storage unit 202.

The storage unit 202 stores various data and information. Specifically, the storage unit 202 stores the program executed by the control unit 201, the position information of the imaging target and the monitoring camera acquired by the position information acquisition unit 206, and the positioning accuracy and the like acquired by the positioning accuracy acquisition unit 207. Do. The storage unit 202 is also used as a work area during program execution. The storage unit 202 is configured of, for example, a storage medium such as a ROM, a RAM, an HDD, a flash memory, or a removable SD card. The storage unit 202 stores in advance positional information and positioning accuracy of the monitoring camera 100B.
The display unit 203 displays various setting screens, data acquisition / display screens, viewers of images received from the monitoring camera 100B, various messages, and the like. The display unit 203 is configured of, for example, an LCD, an organic EL display, or the like. The user of the external device 200 can view the setting screen or the like displayed on the display unit 203.

The input unit 204 includes, for example, a button, an arrow key, a touch panel, and a mouse. The input unit 204 notifies the control unit 201 of the content of an operation (including screen operation) such as a button by the user of the external device 200. Since the input unit 204 is operated by the user, it can also be called an operation unit or a user interface. By operating the input unit 204, the user can input various instructions (for example, imaging range control request), numerical values, data, information (for example, position information of the monitoring camera 100B), and the like to the external device 200.
The setting value calculation unit 205 calculates an imaging angle of view and an imaging direction based on the position information of the imaging target acquired by the position information acquisition unit 206 and the positioning accuracy thereof, and the position information of the monitoring camera 100B and the positioning accuracy. The setting value calculation unit 205 also calculates setting values such as the width and height of the imaging range from the imaging angle of view and the imaging direction. The setting value calculation unit 205 performs the calculation in response to acquisition of position information, an input of an imaging range control request from a user, or the like. The setting value calculation unit 205 causes the storage unit 202 to store calculation results (setting values such as an imaging angle of view and an imaging direction, and a width and height of an imaging range). The calculation result is transmitted from the external device 200 to the monitoring camera 100B via the communication unit 208.

The positional information acquisition unit 206 acquires positional information of the imaging target and positional information of the camera 100B by receiving positional information of the imaging target and positional information of the monitoring camera 100B from the positional information providing apparatus. The position information to be acquired is, for example, latitude, longitude, altitude and the like. The position information providing device generates position information from the radio wave arrival time and the radio wave intensity.
The positioning accuracy acquisition unit 207 acquires the positioning accuracy for the position information of the imaging target and the positioning accuracy for the position information of the monitoring camera 100B. When the position information acquisition unit 206 receives the position information of the imaging target and the monitoring camera, the positioning accuracy acquisition unit 207 also receives the positioning accuracy from the position information providing device. By the reception, the device accuracy acquisition unit 207 acquires the positioning accuracy. The calculation accuracy (positioning accuracy) of the position information providing device such as GPS that calculates (provides) position information is an error factor (changes in radio wave intensity due to the environment and weather around the radio wave reception side, the number of transmitters that received radio waves, etc. It changes by). The positioning accuracy can be calculated using the number of transmitters that can receive the radio wave, the radio wave arrival time, the radio wave intensity, and the like.

The communication unit 208 includes control commands including a PTZ control command, position information acquired by the position information acquisition unit 206, positioning accuracy acquired by the positioning accuracy acquisition unit 207, and an imaging range calculated (acquired) by the setting value calculation unit 205. The setting values such as the width and height are transmitted to the monitoring camera 100B. The communication unit 208 also receives a response to each control command and a video stream from the monitoring camera 100B. Note that the position information and the positioning accuracy can also be acquired from the outside via the communication unit 208.
As mentioned above, although the structure of the external apparatus 200 was demonstrated with reference to FIG. 11, the structure shown in FIG. 11 is an example, and the structure of the external apparatus 200 is not this limitation. For example, the external device 200 may include an image analysis processing unit and an audio output unit.

(PTZ control of imaging unit)
Next, the process of PTZ control of the imaging unit 104 of the monitoring camera 100B performed by the control device 110B of the present embodiment will be described in detail with reference to the flowchart of FIG. The flowchart of FIG. 12 is realized by the functional modules of the control device 110B shown in FIG. When the functional module is software, the CPU constituting the control unit 201 executes the program to realize the processing of the flowchart.
In S1201, the external device 200 (position information acquisition unit 206) receives the position information of the imaging target from the position information providing apparatus. The position information acquisition unit 206 stores the received position information of the imaging target in the storage unit 202. The position information stored in the storage unit 202 is used by the setting value calculation unit 205. The external device 200 may receive the position information of the monitoring camera from the position information providing device.

In S1202, the positioning accuracy acquisition unit 207 acquires the positioning accuracy for the position information of the imaging target. When the external device 200 receives the position information of the imaging target in S1201, the positioning accuracy acquisition unit 207 receives and acquires the positioning accuracy. The positioning accuracy acquisition unit 207 stores the acquired positioning accuracy in the storage unit 202. The stored positioning accuracy is used by the setting value calculation unit 205. The positioning accuracy acquisition unit 207 may receive, from the position information providing device, the positioning accuracy of the position information of the monitoring camera.
The positioning accuracy acquisition unit 207 may acquire the positioning accuracy stored in advance in the storage unit 202 from the storage unit 202. For example, if the change in positioning accuracy is predicted to be minute and the external device 200 (storage unit 202) holds the positioning accuracy in advance, the positioning accuracy acquisition unit 207 acquires the positioning accuracy from the storage unit 202. can do. In such a case, the external device 200 may not receive / acquire the positioning accuracy from the position information providing apparatus or the like. In addition, if the external device 200 holds a plurality of positioning accuracies in advance in the storage unit 202, the positioning accuracy acquisition unit 207 determines 1 depending on the type (GPS, wireless LAN, Bluetooth, etc.) of the position information providing device. It is also possible to select one positioning accuracy.

When the positioning accuracy acquisition unit 207 acquires the positioning accuracy in S1202 and the positioning accuracy is stored in the storage unit 202 before S1202, the positioning accuracy acquisition unit 207 acquires the storage content of the storage unit 202 in S1202 Update to the same positioning accuracy.
In S1203, the setting value calculation unit 205 calculates an imaging angle of view based on the position information and the positioning accuracy of the monitoring camera 100B, and the position information and the positioning accuracy of the imaging target.
First, the setting value calculation unit 205 calculates the distance between the monitoring camera 100B and the imaging target based on the position information of the monitoring camera 100B and the position information of the imaging target. Then, the setting value calculation unit 205 calculates an imaging angle of view using a trigonometric function based on the calculated distance, the positioning accuracy of the monitoring camera 100B, and the positioning accuracy of the imaging target. The setting value calculation unit 205 stores the calculated imaging angle of view in the storage unit 202.

In S1204, the setting value calculation unit 205 calculates the imaging direction based on the position information of the monitoring camera 100B stored in the storage unit 202 and the position information of the imaging target received by the position information acquisition unit 206. More specifically, the setting value calculation unit 205 performs imaging in the world coordinate system based on a point specified by the latitude, longitude, and altitude of the monitoring camera 100B and a point specified by the latitude, longitude, and altitude of the imaging target. Calculate the direction of Thereafter, the setting value calculation unit 205 calculates pan and tilt values of the imaging unit 104 based on the calculated imaging direction, and stores the calculation result in the storage unit 202.
In S1205, the external device 200 (communication unit 208) transmits the imaging angle of view calculated in S1203 and the pan and tilt values calculated in S1204 to the monitoring camera 100B. The transmitted imaging angle of view, and the pan and tilt values are stored in the storage unit 102B via the communication unit 109B of the monitoring camera 100B.

In S1206, the imaging control unit 103B of the monitoring camera 100B controls the imaging range (PTZ) of the imaging unit 104 using the imaging angle of view (zoom) and the pan and tilt values acquired from the external device 200. If the acquired imaging angle of view, pan and tilt values exceed the controllable range, the imaging control unit 103B rounds the imaging angle of view, pan and tilt values into the controllable range, and the imaging range Control may be performed. Alternatively, the imaging control unit 103B may move the pan and tilt of the monitoring camera 100B continuously so that the entire imaging range can be imaged. Alternatively, the communication unit 109B may notify the external device 200 of a message to that effect without executing control of the imaging range.
The process of the PTZ control of the imaging unit 104 has been described above with reference to FIG. 12, but the flowchart illustrated in FIG. 12 is a description of a preferable example, and the PTZ control of the imaging unit 104 according to the present embodiment is described here. It is not limited. For example, the control device 110 </ b> B of the present embodiment may include an update unit that updates the position information and the positioning accuracy of the monitoring camera 100 </ b> B possessed by the external device 200.

(Effect of Embodiment 3)
In the third embodiment, the control device 110B of the monitoring camera 100B is provided in the external device 200, and the PTZ control of the imaging unit 104 of the monitoring camera 100B is executed by the control device 110B provided outside the monitoring camera 100. Control device 110B detects the imaging angle of view and the imaging direction (pan and tilt) based on the position information and positioning accuracy of monitoring camera 100B possessed by external device 200, and the position information and positioning accuracy of the imaging target received by external device 200. Calculate the value). Then, the control device 110B transmits the calculated imaging angle of view and the imaging direction (pan and tilt values) as setting values to the monitoring camera 100B. The surveillance camera 100B performs PTZ control of the imaging unit 104 of the surveillance camera 100B based on the received set values of the imaging angle of view and the imaging direction (pan and tilt values).
Although the control device 110B of the third embodiment includes the setting value calculation unit 205, the position information acquisition unit 206, the positioning accuracy acquisition unit 207, and the communication unit 208, the communication unit 208 is a component of the control device 110B. You do not have to Further, when the accuracy (reliability) of the position information of the monitoring camera is high, the control device 100B may perform PTZ control of the imaging unit 104 without using the positioning accuracy for the position information of the monitoring camera.

(Other embodiments)
The functional modules shown in FIGS. 2, 5, 10 and 11 can be realized by software or hardware. When implemented by software, a program for providing the function of each functional module described above is stored in a memory such as a ROM. The stored program is appropriately read to the RAM and executed by the CPU constituting the control units 101 and 201 to realize the functions of the functional modules. On the other hand, in the case of hardware implementation, for example, by using a predetermined compiler, a dedicated circuit may be automatically generated on the FPGA from a program for realizing the function of each functional module. FPGA is an abbreviation for Field Programmable Gate Array. Further, a Gate Array circuit may be formed in the same manner as an FPGA and realized as hardware. Also, it may be realized by an application specific integrated circuit (ASIC). The configuration of the functional modules shown in FIG. 2, FIG. 5, FIG. 10 and FIG. 11 is an example, and a plurality of functional modules may constitute one functional module, and any functional module may be It may be divided into modules that perform multiple functions.

Although the monitoring camera 100, 100A, 100B and the external device 200 have been described in the above embodiment, the present invention can be embodied (implemented) in other forms. For example, the present invention supplies a program (computer program) for realizing one or more functions of the above-described embodiments to a system or apparatus via a network or a recording medium (storage medium), and a computer of the system or apparatus It is also possible to realize by one or more processors in the program reading and executing a program. In this case, the program (program code) itself read from the recording medium implements the functions of the embodiment. Moreover, the recording medium which recorded the said program can comprise this invention.
Further, by executing the program read by the computer, not only the functions of the embodiment are realized, but also an operating system (OS) or the like operating on the computer based on an instruction of the program. The functions of the above-described embodiments may be realized by performing part or all of the processing.

  100: Surveillance camera, 103: Imaging control unit, 104: Imaging unit, 106: Imaging control calculation unit, 107: Position information acquisition unit, 108: Positioning accuracy acquisition unit, 120: Imaging range, 121: Imaging target, 122: Position Information, 200 ... external equipment

Claims (14)

A control device of the imaging device,
A first acquisition unit for acquiring position information of an imaging target;
A second acquisition unit that acquires positioning accuracy for position information of the imaging target;
A first determination unit that determines an imaging angle of view based on position information of the imaging device, position information of the imaging target, and positioning accuracy with respect to position information of the imaging target;
A second determination unit configured to determine an imaging direction based on positional information of the imaging device and positional information of the imaging target;
A control device comprising: Detection means for detecting an area having a predetermined feature within an imaging range determined by the imaging angle of view determined by the first determination means and the imaging direction determined by the second determination means;
An adjustment unit configured to adjust the imaging angle of view and the imaging direction based on the detected area;
The control device according to claim 1, further comprising:   The control device according to claim 1, wherein the first acquisition unit acquires position information of the imaging target from the imaging target.   The control device according to any one of claims 1 to 3, wherein the second acquisition unit acquires positioning accuracy with respect to position information of the imaging target from the imaging target.   4. The image pickup apparatus according to claim 1, wherein the second acquisition unit acquires positioning accuracy with respect to position information of the imaging target from the imaging apparatus or an external device connected to the imaging apparatus. Control device as described.   The control device according to any one of claims 1 to 5, further comprising control means for controlling an imaging range of the imaging device based on the imaging direction and the imaging angle of view. The control device further includes third acquisition means for acquiring position information of the imaging device,
The third acquisition means is characterized in that position information of the imaging device is acquired from the imaging device, acquired through a predetermined interface, or acquired from an external device connected to the imaging device. The control apparatus of any one of claim | item 1 -6.   The first determination unit is characterized in that an angle of view capable of imaging the entire range according to the positioning accuracy is set as the imaging angle of view, with the position represented by the position information acquired by the first acquisition unit as a center. The control device according to any one of claims 1 to 7, wherein   The second determination unit calculates the imaging direction based on the position information of the imaging device acquired by the third acquisition unit and the position information of the imaging target acquired by the first acquisition unit. The control device according to claim 7, characterized in that: The third acquisition unit acquires the latest position information of the imaging device,
The second direction determination means calculates the imaging direction on the basis of the latest position information of the imaging device and the position information of the imaging target acquired by the first means. The control device according to 7. The control device further includes fourth acquisition means for acquiring positioning accuracy with respect to position information of the imaging device,
The first determination unit is configured to capture the image based on position information of the imaging device, positioning accuracy for the position information of the imaging device, position information of the imaging target, and positioning accuracy for the position information of the imaging target. The control device according to any one of claims 1 to 10, wherein the angle of view is determined. The control device according to any one of claims 1 to 11.
A control unit configured to control an imaging range based on an imaging angle of view and an imaging direction determined by the control device;
Imaging means controlled by the control means;
An imaging apparatus comprising: It is a control method of an imaging device, and
Acquiring position information of an imaging target;
Acquiring positioning accuracy with respect to position information of the imaging target;
Determining an imaging angle of view based on position information of the imaging device, position information of the imaging target, and positioning accuracy with respect to position information of the imaging target;
Determining an imaging direction based on position information of the imaging device and position information of the imaging target;
A control method characterized by comprising:   A computer program for causing a computer to function as each means of the control device according to any one of claims 1 to 12 by being read and executed.

Images