JP2019149659A - Moving object tracking device and program - Google Patents

Abstract

To provide a moving object tracking device capable of smoothly tracking a moving object.SOLUTION: A moving object tracking device 30 comprises: a state value input unit 320 to which a state value is inputted; a prediction information requesting unit 321 which requests a prediction of sensor information; a prediction information generating unit 311 which generates the prediction information including past, current and future position data of the moving object; a position data acquisition unit 324 for acquiring the position data from the prediction information; a difference calculation unit 325 for calculating a difference of the prediction information; a control information generating unit 326 which generates control information on the basis of the difference and corrects the control information on the basis of the state value and the position data; and a command conversion unit 327 which converts the control information into an instruction command of a robot camera 40.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a moving object tracking device and a program thereof.

  2. Description of the Related Art Conventionally, an automatic tracking imaging system that captures images while automatically tracking moving objects such as aircraft has been proposed (Patent Document 1). For example, a conventional automatic tracking imaging system includes a camera platform control unit that controls the camera platform so that the imaging camera tracks a moving object based on position information (sensor information) acquired by the sensor camera.

Japanese Patent Laid-Open No. 2006-58986

  When a general robot camera pan head system is used in a conventional automatic tracking photographing system, the pan head outputs the current direction of the photographing camera in a polar coordinate system expressed in degrees. On the other hand, the pan head can be controlled only by the operation speed (speed instruction such as pan and tilt), and the operation instruction is also converted into a command command of a predetermined number of steps (for example, ± 63 steps) to obtain discrete values. In some cases, it can only be controlled. In addition, since the camera has a constant mass and the driving torque of the pan head is limited, it does not reach the intended speed immediately after receiving the command command, but it moves slowly and the speed increases. The speed is constant over time. For this reason, in the photographing camera, a swing error occurs when the camera is stopped, and a tracking error occurs when the speed of the moving object changes. Therefore, in the conventional automatic tracking imaging system, it is necessary to use a feedback signal from the camera platform, but there are many delays, and it is difficult to accurately grasp the direction of the imaging camera.

  An object of the present invention is to solve the above-described problems and to provide a moving object tracking device and a program thereof that can smoothly track a moving object.

  In view of the above-described problem, the moving object tracking device according to the present invention is a moving object tracking device that causes a shooting camera to track a moving object using position information indicating the position of the moving object with respect to the shooting camera, and a state value input unit; The prediction information request unit, the prediction information generation unit, the position data acquisition unit, the difference calculation unit, the control information generation unit, and the photographing camera control unit are provided.

According to this moving object tracking device, the state value input unit receives the state value of the photographing camera at a predetermined input interval during the state change of the photographing camera (feedback signal).
The prediction information request unit requests prediction of position information when a state value is input to the state value input unit, or when a preset standby time has elapsed without the state value being input.
The prediction information generation unit obtains a prediction position from the past position and the current position of the moving object with respect to the imaging camera based on the input position information, and generates prediction information including the past position, the current position, and the prediction position as position data. To do.
The position data acquisition unit acquires position data of a delay time set in advance with the current position as a reference.

The difference calculation unit calculates a difference between a predicted position at the time of control when the photographing camera is controlled and a predicted position at a time obtained by adding a preset update interval to the control time.
The control information generation unit generates control information indicating the operation speed of the photographing camera based on the difference calculated by the difference calculation unit, and the state value input to the state value input unit and the position acquired by the position data acquisition unit The control information is corrected based on the data.
The photographing camera control unit controls the photographing camera based on the control information.
In this way, the moving object tracking device takes into account the delay when the state value (feedback signal) is input from the photographing camera and the delay when obtaining the predicted position as the delay time, so the direction of the photographing camera is accurately determined. I can grasp.

According to the present invention, the following excellent effects can be obtained.
Since the moving body tracking device according to the present invention generates control information in consideration of the delay time and the update interval, the moving body can be tracked smoothly.

1 is an overall configuration diagram of an aircraft tracking imaging system in an embodiment of the present invention. It is explanatory drawing explaining the installation method of the sensor camera of FIG. It is a block diagram which shows the structure of the moving body tracking apparatus of FIG. It is a flowchart which shows operation | movement of the moving body tracking device of FIG. In embodiment of this invention, it is explanatory drawing explaining tracking of a moving body. It is explanatory drawing explaining tracking of a moving body in the modification of this invention.

[Outline of aircraft tracking system]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
An outline of the aircraft tracking imaging system 1 will be described with reference to FIG.
The aircraft tracking imaging system 1 tracks and images an aircraft that leaves and arrives at an airport with a robot camera (imaging camera) 40. As shown in FIG. 1, the sensor camera 10 (10 _R , 10 _C , 10 _L ) And a moving object detection device 20 (20 _R , 20 _C , 20 _L ), a moving object tracking device 30, and a robot camera 40.

  The moving object is a moving object or person and is a tracking target of the moving object tracking device 30. In the present embodiment, an aircraft taking off and landing at an airport is illustrated as a moving object, but it goes without saying that the moving object is not particularly limited.

The sensor camera 10 captures an aircraft and generates a sensor image 90. For example, the sensor camera 10 is a fixed camera with a constant shooting direction and shooting angle of view. Then, the sensor camera 10 outputs the generated sensor video 90 to the moving object detection device 20.
Here, one or more sensor cameras 10 can be installed as necessary. In this embodiment, as shown in FIG. 2, three sensor cameras 10 are installed on the building rooftop in the center of the airport so that the entire runway can be photographed. In Figure 2, the sensor camera 10 _R faces the runway right sensor camera 10 _C faces the runway center sensor camera 10 _L is facing runway left. The sensor camera _{10 R, 10 C, 10 L,} the sensor image ₉₀ R taken runways in each photographing _direction, 90 C, to produce a 90 _L.

The moving object detection device 20 detects an aircraft from the sensor video 90 input from the sensor camera 10 and outputs the detection result (moving object detection result) to the moving object tracking device 30. The moving object detection apparatus 20 can detect an aircraft by a general method. For example, as an aircraft detection method, there are a method using an aircraft ADS-B (Automatic Dependent Surveillance-Broadcast) signal and a method of predicting the course of an aircraft from a radar image.
In the present embodiment, three moving object detection devices 20 are installed at different locations away from the airport so as to correspond one-to-one with the sensor camera 10. Then, the moving object detection device 20 _R performs image analysis on the sensor image 90 _R of the sensor camera 10 _R , the moving object detection device 20 _C performs image analysis on the sensor image 90 _C of the sensor camera 10 _C , and the moving object detection device 20 _L detects the sensor camera. Image analysis of 10 _L sensor image 90 _L is performed.

  The moving object tracking device 30 causes the robot camera 40 to track the aircraft using the moving object detection result input from the moving object detection device 20. The moving body tracking device 30 outputs a command command to the robot camera 40 so that the robot camera 40 tracks the aircraft. In the present embodiment, one moving body tracking device 30 is installed at the same place as the moving body detection device 20.

The robot camera 40 is driven in accordance with a command command from the moving body tracking device 30 and generates a photographed image 91 obtained by photographing an aircraft. The robot camera 40 is a general robot camera capable of changing a state such as panning and tilting. The robot camera 40 includes a camera main body 41 that generates a captured image 91 of the aircraft, and a pan head 43 that changes the posture of the mounted camera main body 41. In the present embodiment, one robot camera 40 is installed on the building roof in the center of the airport, like the sensor camera 10.
In this embodiment, the robot camera 40 and the moving object tracking device 30 are connected by a low-speed serial line. Therefore, it is difficult to input / output between the robot camera 40 and the moving object tracking device 30 at a high bit rate.

Further, the robot camera 40 outputs a state value to the moving body tracking device 30 as a feedback signal during a state change at predetermined input intervals (for example, 0.5 seconds). In the present embodiment, the robot camera 40 outputs the shooting direction (AZ angle, EL angle) of the robot camera 40 as the state value.
Here, when one or both of the AZ angle (azimuth angle) and the EL angle (elevation angle) are changing, the robot camera 40 sends the changed value of the AZ angle or EL angle to the moving object tracking device 30. Output.
On the other hand, the robot camera 40 does not output the state value to the moving body tracking device 30 when the posture is not changed (that is, when both the AZ angle and the EL angle are not changed).

[Configuration of moving object tracking device]
With reference to FIG. 3, the structure of the moving body tracking device 30 is demonstrated.
As illustrated in FIG. 3, the moving body tracking device 30 specifies the position of the aircraft, generates a prediction information thereof, and controls the robot camera 40 using the prediction information generated by the position specification unit 31. And a robot camera control unit 32.
The position specifying unit 31 includes a sensor information generation unit 310, a prediction information generation unit 311, a prediction information storage unit 312, a request input unit 313, and a prediction information output unit 314.

  The sensor information generation unit 310 generates sensor information (position information) based on the moving object detection result input from the moving object detection device 20, and outputs the generated sensor information to the prediction information generation unit 311. In the present embodiment, the sensor information generation unit 310 receives the moving object detection result at a predetermined generation interval (for example, every 0.1 second), and therefore generates sensor information each time the moving object detection result is input. become.

  The sensor information is information representing the position (direction) of the aircraft with respect to the robot camera 40. For example, the sensor information is represented by the AZ angle and the EL angle when the aircraft is viewed from the robot camera 40, similarly to the state value of the robot camera 40. This sensor information physically means a direction, but is logically developed in a spherical polar coordinate system, so it may be called position information.

  Here, the sensor information generation unit 310 can generate sensor information by an arbitrary method. For example, the sensor information generation unit 310 presets conversion parameters for converting the image coordinates of the sensor video 90 into a polar coordinate system for each sensor camera 10. Then, the sensor information generation unit 310 refers to this conversion parameter and converts the image coordinates of the sensor video 90 indicated by the moving object detection result into sensor information.

When the sensor information is input from the sensor information generation unit 310, the prediction information generation unit 311 generates prediction information. Specifically, the prediction information generation unit 311 predicts future sensor information from the current sensor information input from the sensor information generation unit 310 and past sensor information stored in the prediction information storage unit 312. , Generate prediction information.
Thereafter, the prediction information generation unit 311 writes the generated prediction information and sensor information in the prediction information storage unit 312.

  This prediction information includes position data of the past position, current position, and predicted position of the aircraft with respect to the robot camera 40. That is, the prediction information includes past sensor information (actually measured value), sensor information at the present time (actually measured value), and future sensor information (predicted value) as position data.

For example, the prediction information generation unit 311 generates prediction information by linear prediction of sensor information. Specifically, the prediction information generation unit 311 predicts a future aircraft position linearly from past and current sensor information. The prediction information includes, for example, past position data of 1.0 seconds (10 in 0.1 second units) and 2.0 seconds (20 in 0.1 second units) from the present to the future. Position data. The number of past and future position data included in this prediction information is arbitrary, and is set in consideration of factors such as various delays in the aircraft tracking imaging system 1 and the moving speed of the aircraft.
Note that the prediction information generation unit 311 may generate prediction information not only by linear prediction but also by a method using quadratic approximation or a spline function.

  The prediction information storage unit 312 is a storage device such as a memory that stores prediction information and sensor information, an HDD (Hard Disk Drive), and an SSD (Solid State Drive). In the prediction information storage unit 312, the latest prediction information and sensor information are sequentially written by the prediction information generation unit 311, and previous sensor information is accumulated as past sensor information.

  The request input unit 313 receives a prediction information request from a prediction information request unit 321 described later. Then, when the prediction information request is input from the prediction information request unit 321, the request input unit 313 notifies the prediction information output unit 314 of the input of the prediction information request (prediction information request notification).

  The prediction information output unit 314 outputs the prediction information stored in the prediction information storage unit 312 to the prediction information input unit 322 in response to a request from the prediction information request unit 321. That is, when the prediction information request notification is input from the request input unit 313, the prediction information output unit 314 immediately outputs the prediction information to the prediction information input unit 322.

  The robot camera control unit 32 includes a state value input unit 320, a prediction information request unit 321, a prediction information input unit 322, a prediction information storage unit 323, a position data acquisition unit 324, a difference calculation unit 325, and control information. A generation unit 326 and a command conversion unit 327 are provided. The command conversion unit 327 corresponds to the photographing camera control unit described in the claims.

  The state value input unit 320 is for inputting the state value of the robot camera 40 at a predetermined input interval (for example, 0.5 seconds) while the state of the robot camera 40 is changing. Then, the state value input unit 320 notifies the prediction information request unit 321 of the state value input (state value input notification). Further, the state value input unit 320 outputs the state value of the robot camera 40 to the control information generation unit 326.

The prediction information request unit 321 requests and inputs the latest prediction information when a state value input notification is input from the state value input unit 320 or when a predetermined standby time has elapsed without input of the state value input notification. Request to the unit 313 (prediction information request).
In the present embodiment, the prediction information request unit 321 outputs a prediction information request to the request input unit 313 every 0.5 seconds every time there is an input while the state of the robot camera 40 is changing. Further, the prediction information request unit 321 determines that a timeout has occurred when the standby time has elapsed without the state of the robot camera 40 being changed, and outputs a prediction information request to the request input unit 313.
Note that the standby time is set in advance as an arbitrary value. For example, the standby time can be set at an interval at which the robot camera 40 outputs a state value, and a state value to be input every 0.5 seconds is not input from the pan head 43, such as 0.55 seconds. It is recommended to set an appropriate time to confirm this.

The prediction information input unit 322 receives prediction information from the prediction information output unit 314 in response to the prediction information request from the prediction information request unit 321. Then, the prediction information input unit 322 writes the input prediction information in the prediction information storage unit 323.
The prediction information storage unit 323 is a storage device such as a memory, HDD, or SSD that stores prediction information. The prediction information stored in the prediction information storage unit 323 is referred to by the position data acquisition unit 324 and the difference calculation unit 325.

The position data acquisition unit 324 acquires position data of a delay time set in advance from the prediction information in the prediction information storage unit 323 with reference to the current time point. Then, the position data acquisition unit 324 outputs the acquired position data to the control information generation unit 326.
This delay time is set based on the delay when the state value is input from the robot camera 40 (D _{11 in} FIG. 5) and the delay when obtaining the predicted position (D _{12 in} FIG. 5). For example, the delay time may be set to 0.4 seconds from D ₁₁ -D ₁₂ .

The difference calculation unit 325 obtains the difference between the prediction position at the control time point for controlling the robot camera 40 and the prediction position at the time obtained by adding a preset update interval to the control time point from the prediction information in the prediction information storage unit 323. Is to be calculated. Then, the difference calculation unit 325 outputs the calculated difference to the control information generation unit 326.
As the update interval, a command update interval is set in consideration of the cycle when the robot camera 40 updates the command command from the command conversion unit 327 (D _{2 in} FIG. 5). For example, the update interval can be set to an arbitrary value, and may be set to 0.1 seconds. The update interval is preferably set so that the command command can be transmitted to the robot camera 40 without delay while being sufficiently short so that a fast-moving aircraft can be tracked.

  The control information generation unit 326 generates control information representing the operation speed of the robot camera 40 based on the difference input from the difference calculation unit 325. This control information is the pan speed (pan angle change per unit time) and tilt speed (tilt angle change per unit time) of the robot camera 40. In the present embodiment, the control information generation unit 326 converts the difference (AZ angle, EL angle) calculated by the difference calculation unit 325 into control information (pan speed, tilt speed) output to the robot camera 40.

Next, the control information generation unit 326 corrects the control information based on the state value Xu input from the state value input unit 320 and the position data Xd input from the position data acquisition unit 324. In the present embodiment, the control information generation unit 326 obtains a difference between the position data Xd and the state value Xu as in the following formula (1). Then, the control information generation unit 326 obtains a correction value R by multiplying the obtained difference by a correction coefficient. This correction coefficient is the product of the reciprocal of the correction time T described later and the hunting prevention coefficient K. Further, the control information generation unit 326 corrects the control information by adding the obtained correction value R to the control information. Thereafter, the control information generation unit 326 outputs the corrected control information to the command conversion unit 327.
R = (Xd−Xu) / T × K (1)

The correction time T represents the time (seconds) for correcting the automatic tracking error. That is, the control information generation unit 326 corrects the automatic tracking error at a speed that corrects the error in T seconds. The hunting prevention coefficient K is a coefficient for preventing hunting and is usually 1 or less. Here, the correction speed is K times due to the anti-hunting coefficient. For this reason, the correction is actually performed at a speed that is corrected in T / K seconds. For example, when the correction time T is 1.0 second and the hunting prevention coefficient K is 0.6, this is equivalent to correcting the automatic tracking error over 1.67 seconds.
Further, the correction value R has an opportunity to be corrected every time the state value is input (for example, 0.5 seconds).

The command conversion unit 327 converts the control information input from the control information generation unit 326 into a command command for the robot camera 40. For example, the command command is represented by 127-step numerical values from −63 to +63 for pan and tilt. Then, the command conversion unit 327 outputs to the robot camera 40 an identification command that indicates an instruction for panning or tilting and a command command in which these numerical values are set.
Here, the command conversion unit 327 converts the control information into a command command so that the robot camera 40 moves as intended. For example, the command conversion unit 327 can perform conversion using a linear function, an LUT (lookup table), a power function (exponential function), or a function that combines power functions.

[Operation of moving object tracking device]
The moving body tracking by the moving body tracking device 30 will be specifically described with reference to FIGS. 4 and 5 (see FIG. 3 as appropriate).

Here, the robot camera 40 operates by receiving a command every 0.1 second, the moving body tracking device 30 operates in units of 0.1 seconds, and the prediction information A is generated in units of 0.1 seconds. To do.
As shown in FIG. 5, based on the delay D ₁₁ = 0.6 seconds when the state value is input from the robot camera 40 and the delay D ₁₂ = 0.2 seconds when generating the prediction information A, From D ₁₁ -D ₁₂ , delay time = 0.4 seconds is set.
The command update interval D ₂ = 0.1 second is set.

First, the processing of the robot camera control unit 32 will be described.
As described above, the robot camera 40 outputs the state value Xu to the state value input unit 320 only every 0.5 seconds even when the state is changing. That is, the state value input unit 320 receives the state value Xu from the robot camera 40 at the shortest intervals of 0.5 seconds (step S1).

As shown in FIG. 5, the state value Xu input from the robot camera 40 includes, for example, a delay of 0.6 seconds (delay D ₁₁ ). Here, the time when the state value Xu is input to the state value input unit 320 is set as the state value input time point.

  The state value input unit 320 outputs a state value input notification to the prediction information request unit 321. And the prediction information request | requirement part 321 outputs a prediction information request | requirement to the request | requirement input part 313 according to the state value input notification input from the state value input part 320 (step S2).

In parallel with the processing of steps S1 and S2, the position specifying unit 31 performs the following operation.
The sensor information generation unit 310 generates sensor information based on the moving object detection result input from the moving object detection device 20 (step S10).
The prediction information generation unit 311 predicts future sensor information from the current sensor information generated in step S10 and the past sensor information stored in the prediction information storage unit 312, and generates prediction information A (step S11).

The prediction information generation unit 311 writes the prediction information A and sensor information generated in step S11 in the prediction information storage unit 312 (step S12).
The request input unit 313 receives the prediction information request from the prediction information request unit 321 and outputs a prediction information request notification to the prediction information output unit 314 (step S13).
In response to the prediction information request notification input from the request input unit 313, the prediction information output unit 314 outputs the prediction information A stored in the prediction information storage unit 312 to the prediction information input unit 322 (step S14).

  As described above, when the state value Xu is input from the robot camera 40, the robot camera control unit 32 requests the latest prediction information A from the position specifying unit 31. The position specifying unit 31 always holds the latest prediction information A while updating it. If there is a request, the position specifying unit 31 immediately outputs the latest prediction information A to the robot camera control unit 32. As a result, the timing variation between the update of the prediction information A in the position specifying unit 31 and the command update in the robot camera control unit 32 is caused by a change in the video update cycle, the position detection method, and the prediction method of the sensor camera 10. Regardless of the range.

As shown in FIG. 5, the prediction information A includes 10 past positions (position data a _{1 to} a ₁₀ ), one current position (position data a ₁₁ ), and 19 prediction positions (position data a ₁₂ ~a ₃₀₎ and is included. That is, the prediction information A includes a total of 30 pieces of position data a _{1 to} a ₃₀ generated in units of 0.1 seconds.

Hereinafter, returning to the processing of the robot camera control unit 32, the description will be continued.
The prediction information input unit 322 receives the prediction information from the prediction information output unit 314 (step S3), and writes the input prediction information A in the prediction information storage unit 323 (step S4).

Here, for example, a delay of 0.2 seconds occurs after the sensor camera 10 captures the sensor video 90 until the position specifying unit 31 generates the prediction information A (delay D _{12 in} FIG. 5).
Therefore, when referring to the prediction information A, it is necessary to consider the delay D ₁₁ = 0.6 seconds when the state value Xu is input and the delay D ₁₂ = 0.2 seconds when generating the prediction information. is there. That is, if the current position (sensor information a ₁₁ ) of the prediction information A is used as a reference, the state value Xu input from the robot camera 40 is the past information obtained by subtracting the delay D ₁₂ from the delay D _11. It becomes.
For this reason, the position data acquisition unit 324 acquires position data Xd (position data a ₇ ) at a time that is backed by the delay time (delay D ₁₁ -delay D ₁₂ ) from the current position from the prediction information A stored in step S4. (Step S5).

  As shown in FIG. 5, after the robot camera control unit 32 outputs a command command, the robot camera 40 actually starts driving and reaches a specified speed, for example, 0.1 seconds or more, and in some cases about 1 second. Delay occurs. For this reason, when the robot camera 40 is controlled, a camera direction shift due to this delay occurs. This can be simply corrected as a positional shift and continuously corrected by a method described later.

Basically, the difference calculation unit 325 includes, in the prediction information A stored in step S4, a predicted position at the control time (position data a ₁₃ ) and a predicted position at the time obtained by adding the update interval D ₂ to the control time ( A difference from the position data a ₁₄ ) is calculated (step S6).
In the example of FIG. 5, it is assumed that 0.2 seconds have elapsed from the current position of the prediction information A (the time when the prediction information A is input) to the control time.

The control information generation unit 326 generates control information for the robot camera 40 based on the difference calculated in step S6. Then, as shown in FIG. 5, the control information generation unit 326 calculates a correction value by the above-described equation (1) and corrects the calculated correction value R in order to correct the deviation between the state value of the robot camera 40 and the sensor information. In step S7, the control information is corrected.
Here, since both the state value Xu and the position data Xd are expressed by the AZ angle and the EL angle, the control information generation unit 326 applies the expression (1) to each of the AZ angle and the EL angle, A correction value R for each tilt speed is obtained. Then, the control information generating unit 326 adds the pan speed and tilt speed correction values R to the pan speed and tilt speed of the control information, respectively.
The command conversion unit 327 converts the control information generated in step S7 into a command command for the robot camera 40 (step S8).

[Action / Effect]
As described above, since the moving object tracking device 30 considers the delay time and the update interval, the moving object tracking apparatus 30 can accurately grasp the direction of the robot camera 40 and smoothly track a moving object that moves at high speed like an aircraft.
Furthermore, even when the robot camera 40 and the moving body tracking device 30 are connected by a low-speed serial line, the moving body tracking device 30 can suppress the data input / output amount and the input / output of state values and command commands will not be delayed. .
Furthermore, since the moving body tracking device 30 corrects the control information in a predetermined time according to the above-described equation (1), the posture of the robot camera 40 does not change sharply and can be tracked more smoothly.

(Modification 1)
As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited to above-described embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
As shown in FIG. 6, in the first modification, further define the adjustment time D ₁₃ as follows delay time in consideration. The adjustment time D ₁₃ is the time for adjusting the position of the aircraft in the captured image the robot camera 40 is taken, can be set arbitrarily (e.g., adjustment time D _{13 =} 0.9 sec).
Delay time = (delay _{D 11} - Delay _{D 12} - adjustment time _{D 13)}

Here, when the delay time increases, the robot camera 40 turns to the rear side in the moving direction of the aircraft (that is, it is delayed). On the other hand, when the delay time becomes small, the robot camera 40 comes to face the front side in the moving direction of the aircraft. Further, by setting the adjusting time D ₁₃ as the delay time is a negative value, the robot camera 40 comes to face the future position of the aircraft. In a normal captured image, a composition in which the front side of the aircraft in the moving direction is wide is preferable. Therefore, as can be adjusted to a desired composition, and to set the adjustment time D _13.

6, the position data acquisition unit 324, the prediction information A, to obtain further prediction position Xd of adjustment time D ₁₃ only advances time. That is, the position data acquisition unit 324 acquires the position data a ₁₆ at the time obtained by adding the delay D ₁₂ and the adjustment time D ₁₃ and subtracting the delay D ₁₁ .
Note that the processing after obtaining the position data a ₁₆ is the same as that in the above-described embodiment, and thus the description thereof is omitted.

(Other variations)
In the above-described embodiment, the moving object is described as an aircraft. However, in the present invention, the moving object is not particularly limited, and even a moving object that moves at high speed can be smoothly tracked.
In the above-described embodiment, the moving object is detected by the sensor camera. However, the present invention is not particularly limited. For example, the moving object may be detected by a GPS (Global Positioning System), an infrared sensor, or the like.

In the above-described embodiment, it has been described that the three sensor cameras and the moving object detection device are provided. However, in the present invention, the number of these is not particularly limited, and may be one or more.
In the above-described embodiment, the delay time, the update interval, the input interval, and the standby time are exemplified. However, in the present invention, these values are not particularly limited. For example, these values can be set to arbitrary values according to the performance and specifications of the robot camera and the network environment.

In the above-described embodiment, the position specifying unit and the robot camera control unit are described as being mounted on the same device. However, in the present invention, the position specifying unit and the robot camera control unit may be mounted on separate devices.
In the above-described embodiment, the state values of the robot camera are the AZ angle and the EL angle, and the pan and tilt of the robot camera are controlled. However, the present invention is not limited to this. That is, the moving object tracking device may control the zoom and / or focus of the robot camera in the same manner as pan and tilt.

  In the above-described embodiment, the moving object tracking device is described as independent hardware, but the present invention is not limited to this. For example, the present invention can also be realized by a program that causes hardware resources such as a CPU, a memory, and a hard disk included in a computer to operate cooperatively as the moving object tracking device. This program may be distributed through a communication line, or may be distributed by writing in a recording medium such as a CD-ROM or a flash memory.

1 Aircraft tracking imaging system 10 Sensor camera (sensor)
20 moving object detection device 30 moving object tracking device 31 position specifying unit 310 sensor information generation unit 311 prediction information generation unit 312 prediction information storage unit 313 request input unit 314 prediction information output unit 32 robot camera control unit 320 state value input unit 321 prediction information request Unit 322 Prediction information input unit 323 Prediction information storage unit 324 Position data acquisition unit 325 Difference calculation unit 326 Control information generation unit 327 Command conversion unit (shooting camera control unit)
40 robot camera 41 camera body 43 pan head

Claims (7)

A moving body tracking device for tracking a moving body with the shooting camera using position information indicating a position of the moving body with respect to the shooting camera,
A state value input unit for inputting a state value of the photographing camera at a predetermined input interval during a state change of the photographing camera;
When the state value is input to the state value input unit, or when a preset standby time has elapsed without the state value being input, a prediction information request unit that requests prediction information;
Based on the input position information, a predicted position is obtained from a past position and a current position of the moving object with respect to the photographing camera, and the prediction information including the past position, the current position, and the predicted position as position data is obtained. A prediction information generation unit to generate,
A position data acquisition unit for acquiring position data of a delay time set in advance with reference to the current position;
A difference calculating unit that calculates a difference between the predicted position at the time of control when controlling the photographing camera and the predicted position at a time obtained by adding a preset update interval to the control time;
Based on the difference calculated by the difference calculation unit, control information representing the operation speed of the photographing camera is generated, and based on the state value input to the state value input unit and the position data acquired by the position data acquisition unit. A control information generator for correcting the control information;
A shooting camera control unit for controlling the shooting camera based on the control information;
A moving body tracking device comprising:   The moving object tracking device according to claim 1, wherein the prediction information generation unit obtains the predicted position by linear prediction of the position information, quadratic approximation, or a spline function.   The control information generating unit obtains a difference between the position data obtained by the position data obtaining unit and the state value, and corrects the obtained difference by multiplying the obtained correction coefficient in consideration of correction time and hunting prevention. The moving body tracking device according to claim 1, wherein a value is obtained, and the control information is corrected with the obtained correction value. The delay time is preset based on a delay when the state value is input from the photographing camera and a delay when the predicted position is obtained,
4. The update interval is set in advance based on a period when the imaging camera updates a command from the imaging camera control unit. 5. Moving body tracking device.   The position data acquisition unit further includes an adjustment time for adjusting the position of a moving object in a captured image captured by the imaging camera, and acquires position data for a time advanced by the adjustment time from the delay time. The moving body tracking device according to any one of claims 1 to 4.   The moving object tracking device according to claim 1, wherein the position information on the moving object detected by a sensor camera is input to the prediction information generation unit.   The program for functioning a computer as a moving body tracking device as described in any one of Claims 1-6.

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