JP2021150756A - Imaging system, imaging control method, and imaging control program - Google Patents

Abstract

To provide an imaging system capable of properly executing imaging control to an imaging apparatus, an imaging control method, and an imaging control program.SOLUTION: The imaging system includes: a position detection part for detecting the position of an object in a first area; an image generation part for imaging a second area including the object to generate image data; a target area setting part for setting a target area corresponding to the position of the object detected by the position detection part to the image data; a recognition part for executing recognition processing to the target area; and an imaging control part for executing imaging control to the image generation part on the basis of the result of the recognition processing.SELECTED DRAWING: Figure 3

Description

The present invention relates to an imaging system, an imaging control method, and an imaging control program.

There is a technique of recognizing an object such as a vehicle based on a captured image captured by an imaging device and displaying the position of the recognized object on the captured image. Here, the image pickup apparatus controls the exposure by setting a luminance detection frame in the vicinity of the object to be recognized.

Japanese Unexamined Patent Publication No. 2014-135611

However, the above-mentioned conventional technique has a problem that the image pickup control for the image pickup apparatus cannot be appropriately executed.

Therefore, the present disclosure proposes an imaging system, an imaging control method, and an imaging control program capable of appropriately executing imaging control for an imaging apparatus.

In order to solve the above problems, in one form of the imaging system according to the present disclosure, a position detection unit that detects the position of an object in the first region and a second region including the object are imaged to obtain image data. The image generation unit that generates the image data, the target area setting unit that sets the target area corresponding to the position of the object detected by the position detection unit, and the recognition process for the target area. An image pickup control unit that executes image pickup control on the image generation unit based on the result of the recognition process is provided.

FIG. 1 is a diagram for explaining a reference technique. FIG. 2 is a diagram for explaining the processing of the imaging system according to the present embodiment. FIG. 3 is a functional block diagram showing a configuration of an imaging system according to the present embodiment. FIG. 4 is a diagram showing an example of a captured image divided into meshes. FIG. 5 is a diagram for explaining the synchronization processing of the imaging system according to the present embodiment. FIG. 6 is a flowchart (1) showing a processing procedure of the imaging system according to the present embodiment. FIG. 7 is a flowchart (2) showing a processing procedure of the imaging system according to the present embodiment. FIG. 8 is a diagram showing an example of application to other systems. FIG. 9 is a hardware configuration diagram showing an example of a computer that realizes the functions of the imaging system.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are designated by the same reference numerals, so that duplicate description will be omitted.

In addition, the present disclosure will be described according to the order of items shown below.
1.1. Explanation of reference technology related to this embodiment 2. This embodiment 2.1. Processing of the imaging system according to this embodiment 2.2. Configuration of the imaging system according to this embodiment 2.3. Synchronous processing of the imaging system according to this embodiment 2.4. Processing procedure of the imaging system according to this embodiment 2.5. Application example to other systems 2.6. Effect of imaging system according to this embodiment 3. Hardware configuration 4. Conclusion

<< 1.1. Explanation of reference technology related to this embodiment >>
When a brightness detection frame is set in the recognition area and exposure control is performed using vehicle recognition technology, etc., the object cannot be recognized in a scene such as strong backlight or dense fog, and appropriate exposure control should be performed. I can't.

FIG. 1 is a diagram for explaining a reference technique. As shown in FIG. 1, in a scene that is not strongly backlit, the captured image is as shown in the captured image 5a, the region 5b of the object can be recognized, and the exposure is exposed by setting the luminance detection frame in the region 5b. Control can be performed.

On the other hand, in a scene with strong backlight, the captured image is as shown in the captured image 6a, and the object cannot be recognized. In this case, since the exposure control is executed for the entire image pickup screen 6b, the appropriate exposure control cannot be performed for the object to be recognized, and the object may be lost.

There is a reference technique that uses millimeter-wave radar for the problem described in FIG. In this reference technique, the position of an object is specified by using a millimeter-wave radar, a brightness detection frame is set for the specified position, and exposure control is performed. However, in the position detection by the millimeter wave radar, the position of an object (signature, etc.) different from the object that is the original recognition target may be detected, and the exposure control is executed for the other object. Appropriate exposure control cannot be performed on the object to be recognized.

<< 2. This embodiment >>
<< 2.1. Processing of the imaging system according to this embodiment >>
FIG. 2 is a diagram for explaining the processing of the imaging system according to the present embodiment. The imaging system according to the present embodiment uses a millimeter wave radar 50 to irradiate a wide angle with millimeter waves to detect the position of the object 10a. The imaging system sets the target region 11a of the object 10a in the captured image 11 based on the detected position of the object 10a.

Subsequently, the imaging system sets a luminance detection frame in the target region 11a, performs exposure control, acquires the captured image 12 after the exposure control, and executes recognition processing on the target region 12a in the captured image 12. .. The target area 11a and the target area 12a are set at the same position. Based on the recognition result for the target area 12a, the imaging system adjusts the range of the target area 12a to the area of the object when the object to be recognized is certainly included in the target area 12a. A brightness detection frame is set for the adjusted area, and exposure control is performed.

In this way, the target area 11a is set based on the position detection result of the object using the millimeter wave radar 50, the exposure control is performed according to the target area 11a, and the recognition result for the target area 12a after the exposure control is obtained. By adjusting the target area 12a based on this and executing the exposure control according to the adjusted target area, the exposure control for the image pickup apparatus can be appropriately executed. Further, since the exposure control for the image pickup apparatus can be appropriately executed, the recognition rate of the object can be improved.

In addition to the exposure control, the imaging system of the present embodiment may also perform white balance control and focus control. Exposure control, white balance control, and focus control correspond to imaging control.

<< 2.2. Configuration of imaging system according to this embodiment >>
Next, a configuration example of the imaging system according to the present embodiment will be described. FIG. 3 is a functional block diagram showing a configuration of an imaging system according to the present embodiment. As shown in FIG. 3, the imaging system 100 includes an antenna 101, a millimeter wave transmission / reception unit 102, a millimeter wave conversion unit 103, a position detection unit 104, a target area setting unit 105, a conversion table 106, and an image. It has a generation unit 107, an image receiving unit 108, a recognition unit 109, a recognition result control unit 110, a detection unit 111, and an image pickup control unit 112. Although not shown, the imaging system 100 is mounted on a vehicle.

The antenna 101 is a device that cooperates with the millimeter wave transmission / reception unit 102 to transmit radio waves in a frequency band of 60 GHz or 76 GHz (millimeter wave frequency band) and receive radio waves reflected from an object. In the following description, radio waves in the millimeter wave frequency band are referred to as "millimeter waves".

The millimeter wave transmission / reception unit 102 is a processing unit that transmits millimeter waves using an antenna 101 and receives millimeter waves reflected from an object. The millimeter wave transmission / reception unit 102 outputs the result of transmission / reception of the millimeter wave to the millimeter wave conversion unit 103.

The millimeter wave conversion unit 103 is a processing unit that generates Speed-Range information based on the transmission / reception result of millimeter waves. For example, the Speed-Range information includes the distance of the object, the angle of the object, the relative speed with respect to the object, and the like with respect to the position of the antenna 101. The millimeter wave conversion unit 103 outputs the Speed-Range information to the position detection unit 104.

The position detection unit 104 is a processing unit that detects the position of an object based on the Speed-Range information. The position detection unit 104 outputs the information on the position of the detected object to the target area setting unit 105. In the following description, the information on the position of the object is referred to as "position information". From the same object, the position is detected from each of the plurality of places of the object, and the group of the plurality of positions is the area where the object exists in the real space.

The conversion table 106 is a table that converts the two-dimensional coordinate position (width-depth) of the object on the millimeter wave detected by the position detection unit 104 into the two-dimensional coordinate position on the captured image. It is assumed that the conversion table 106 is preliminarily adjusted by calibration from, for example, the positional relationship between the millimeter wave mounted on the vehicle and the camera.

The target area setting unit 105 calculates an area on the captured image of the object estimated by millimeter waves based on the position information acquired from the position detection unit 104 and the conversion table 106. In the following description, the region of the object on the captured image estimated by millimeter waves is referred to as the "target region". The target area setting unit 105 outputs the captured image acquired from the image receiving unit 108 and the coordinates of the target area to the recognition unit 109 and the detection unit 111.

The image generation unit 107 is a camera that generates a captured image. For example, the image generation unit 107 includes a lens module capable of adjusting the exposure time and focus, a CMOS (Complementary Metal Oxide Semiconductor) sensor, an LSI (Large-scale Integration) for adjusting white balance, and the like. The image generation unit 107 adjusts the exposure time, white balance, and focus based on the image pickup control information output from the image pickup control unit 112, and generates a photographed image. The image generation unit 107 outputs the generated photographed image (information of the photographed image) to the image receiving unit 108.

The image receiving unit 108 is a processing unit that receives a captured image from the image generating unit 107. The image receiving unit 108 outputs the captured image to the target area setting unit 105. The image receiving unit 108 may output the captured image to an external recognizer that executes road surface, human body, traffic light, road recognition, or the like, an ECU (Engine Control Unit) of the vehicle, or the like.

The recognition unit 109 is a processing unit that executes recognition processing on the captured image. When the target area is set in the captured image by the target area setting unit 105, the recognition unit 109 executes the recognition process on the target area. For example, the recognition unit 109 recognizes an object by using a learning model or the like that has learned the relationship between the features of the image and the object (object to be recognized). The recognition unit 109 may execute the recognition process on the entire captured image.

The recognition unit 109 outputs the recognition result of the object to the recognition result control unit 110. For example, when the recognition unit 109 succeeds in recognizing the object, the recognition result of the object includes an area on the captured image of the recognized object. In the following description, the area on the captured image of the recognized object is referred to as an "object area". When the recognition unit 109 fails to recognize the object, the object recognition result includes information to the effect that the recognition of the object has failed.

The recognition result control unit 110 is a processing unit that executes various controls based on the recognition result of the object. When the recognition result of the object includes the information of the object area, the recognition result control unit 110 outputs the coordinates of the object area to the detection unit 111. When the recognition result of the object does not include the information of the object area, the recognition result control unit 110 waits until the next recognition result is acquired.

The detection unit 111 is a processing unit that sets a luminance detection frame for performing imaging control on the captured image and calculates an evaluation value. The detection unit 111 outputs the evaluation value to the image pickup control unit 112. Hereinafter, the processing of the detection unit 111 will be described separately for the cases where the coordinates of the target area are acquired, the coordinates of the object area are acquired, and the coordinates of the target area and the object area are not acquired.

The case where the detection unit 111 acquires the coordinates of the target area will be described. The detection unit 111 sets a brightness detection frame in the target area on the captured image and calculates an evaluation value. For example, the detection unit 111 calculates the brightness average value, the brightness peak value, the pixel value, etc. of the target region (brightness detection frame) as evaluation values.

The case where the detection unit 111 acquires the coordinates of the object region will be described. The detection unit 111 sets a luminance detection frame in the object region on the captured image and calculates an evaluation value. For example, the detection unit 111 calculates the brightness average value, the brightness peak value, the pixel value, etc. of the object region (luminance detection frame) as evaluation values.

When both the coordinates of the target area and the coordinates of the object area are acquired, the detection unit 111 sets a luminance detection frame in the object area on the captured image and calculates an evaluation value.

A case where the detection unit 111 has not acquired the coordinates of the target area and the object area will be described. The detection unit 111 sets a luminance detection frame for the entire region of the captured image and calculates an evaluation value. For example, the detection unit 111 calculates the brightness average value, the brightness peak value, the pixel value, and the like of the captured image as evaluation values.

When calculating the evaluation value for the entire region of the captured image, the detection unit 111 may divide the entire region into meshes, set weights for each mesh, and calculate the evaluation value. FIG. 4 is a diagram showing an example of a captured image divided into meshes. The numerical value shown in each mesh is a weight, and the larger the weight, the greater the contribution of the brightness average value, the brightness peak value, and the pixel value of the corresponding mesh to the evaluation value of the entire captured image. As shown in FIG. 4, the weight of the mesh at the center of the captured image 15 is set to be larger than that of the other meshes. The detection unit 111 may calculate the RGB average value, RGB peak value, luminance contrast value, pixel value, etc. of the captured image as evaluation values for white balance and focus adjustment.

Returning to the description of FIG. The image pickup control unit 112 is a processing unit that executes shooting control of the image generation unit 107 based on the evaluation value acquired from the detection unit 111. The image pickup control unit 112 generates image pickup control information in which the exposure time, white balance, and focus adjustment amount are set so that the evaluation value approaches a preset target evaluation value, and outputs the image pickup control information to the image generation unit 107.

For example, the image pickup control unit 112 may specify the shooting control information by using the control table in which the difference value between the target evaluation value and the evaluation value and the shooting control information are associated with each other and output the shooting control information to the image generation unit 107. good.

<< 2.3. Synchronous processing of the imaging system according to this embodiment >>
Subsequently, an example of the synchronous processing of the imaging system according to the present embodiment will be described. FIG. 5 is a diagram for explaining the synchronization processing of the imaging system according to the present embodiment. In FIG. 5, it is assumed that the millimeter wave operation is synchronized at 60 fps at the timing when the image sensor in the image generation unit 107 is constantly operating at 60 fps (Frame Per Second). The imaging system 100 recognizes the captured image generated (developed) by the imaging process (detection processing, imaging control, etc.) at the same timing, and the recognition result can be used to set the brightness detection frame of the next captured image. And.

As shown in FIG. 5, the imaging system 100 detects and develops the captured image I0 at the next timing after the exposure of the captured image I0 (step S1). In step S1, since it is before the execution of object recognition, detection is executed for the entire captured image.

The imaging system 100 generates Speed-Range information synchronized with the captured image I0 at the exposure timing of the captured image I0, and sets a target region based on the Speed-Range information when developing the captured image I0 (step S2).

The imaging system 100 executes a recognition process on the target region of the developed captured image I0 (step S3). The imaging system 100 sets a luminance detection frame for the object region recognized by the recognition result, calculates an evaluation value, and controls imaging of the image generation unit 107 (step S4). The imaging control in step S4 is reflected in the adjustment of the exposure (white balance, focus) of the captured image I3 (step S5).

In the synchronization process described with reference to FIG. 5, it means that the result of detection in step S3 is reflected from the generation of the captured image I3.

<< 2.4. Processing procedure of the imaging system according to this embodiment >>
Next, an example of the processing procedure of the imaging system 100 according to the present embodiment will be described. FIG. 6 is a flowchart (1) showing a processing procedure of the imaging system 100 according to the present embodiment. The imaging system 100 repeatedly executes the process shown in FIG.

As shown in FIG. 6, the image generation unit 107 of the imaging system 100 generates a captured image (step S101). The recognition unit 109 of the image pickup system 100 executes a recognition process on the captured image (step S102).

If the image pickup system 100 can recognize the object (steps S103, Yes), the imaging system 100 proceeds to step S108. If the image pickup system 100 cannot recognize the object (steps S103, No), the imaging system 100 proceeds to step S104.

The target area setting unit 105 of the imaging system 100 sets the target area based on the result of the millimeter wave operation (step S104). The detection unit 111 of the imaging system 100 detects the brightness of the target region and calculates the evaluation value (step S105).

The image pickup control unit 112 of the image pickup system 100 executes shooting control based on the evaluation value (step S106). The recognition unit 109 executes the recognition process for the target area of the captured image (step S107).

The detection unit 111 of the imaging system 100 detects the luminance in the object region detected by the image recognition and calculates the evaluation value (step S108). The image pickup control unit 112 of the image pickup system 100 executes image pickup control based on the evaluation value (step S109).

Next, an example of a processing procedure for millimeter-wave operation of the imaging system 100 according to the present embodiment will be described. FIG. 7 is a flowchart (2) showing a processing procedure of the imaging system 100 according to the present embodiment. The imaging system 100 repeatedly executes the process shown in FIG. 7.

As shown in FIG. 7, the millimeter wave transmission / reception unit 102 of the imaging system 100 transmits / receives millimeter waves (step S201). The millimeter wave conversion unit 103 of the imaging system 100 generates Speed-Range information (step S202).

The millimeter wave conversion unit 103 estimates the direction of the object (step S203). The position detection unit 104 of the imaging system 100 detects the position of the object (step S204). The target area setting unit 105 converts the position of the object into a captured image area (target area) based on the conversion table 106 (step S205).

The imaging system 100 may execute the processes described in FIGS. 6 and 7 in parallel.

<< 2.5. Application example to other systems >>
Next, an example of application of the imaging system 100 shown in FIG. 3 to other systems will be described. FIG. 8 is a diagram showing an example of application to other systems. As shown in FIG. 8, in this system, the image pickup apparatus 200 and the in-vehicle system 300 are interconnected. The image pickup apparatus 200 is connected to a millimeter wave radar 210 and a LiDAR (Laser Imaging Detection and Ranging) 220.

The image pickup apparatus 200 includes a camera control unit 200a and a recognizer 200b. The camera control unit 200a includes a conversion table 106, a target area setting unit 105, an image generation unit 107, an image receiving unit 108, a recognition unit 109, a recognition result control unit 110, and a detection unit 111, which are described in the imaging system 100 of FIG. Corresponds to the image pickup control unit 112. The image receiving unit 108 of the image capturing device 200 outputs the captured image to the recognizer 200b and the in-vehicle system 300.

The recognizer 200b is a device that executes various recognitions based on a captured image acquired from the image pickup device 200. For example, the recognizer 200b recognizes a road surface, a vehicle, a human body, a traffic light, a road sign, and the like, and outputs the recognition result to the in-vehicle system 300. The recognizer 200b may output the recognition result to the image pickup apparatus 200.

The millimeter wave radar 210 is a millimeter wave radar that transmits and receives millimeter waves, and corresponds to the antenna 101, the millimeter wave transmission / reception unit 102, the millimeter wave conversion unit 103, the position detection unit 104, and the like described in FIG.

The LiDAR 220 is a device that measures scattered light with respect to laser irradiation that emits pulsed light and analyzes the distance to an object at a long distance and the properties of the object. The image pickup apparatus 200 may set the target region by using the position information of the LiDAR 220 instead of the millimeter wave radar 210. Of course, both may be used.

The in-vehicle system 300 includes an ECU 300a, sensors 30A, 30B, 30C, and actuators 20A, 20B, 20C, 20D. The ECU 300a controls the actuators 20A to 20D by using the captured image acquired from the image pickup apparatus 200 and the recognition result of the recognizer 200b. The ECU 300a may execute various types of sensing using the sensors 30A to 30C. Here, the sensors 30A to 30C and the actuators 20A to 20D are shown, but the present invention is not limited to this, and other sensors and other actuators may be included. Further, the in-vehicle system 300 may be further connected to other devices related to the vehicle.

<< 2.6. Effect of imaging system according to this embodiment >>
The imaging system 100 according to the present embodiment sets a target area corresponding to the position of an object based on a millimeter-wave radar on the captured image, executes recognition processing on the target area, and is based on the result of the recognition processing. Then, the image pickup control for the image generation unit 107 is executed. Imaging control includes exposure control, white balance control, focus control, and the like. Thereby, the imaging control can be appropriately executed. Moreover, since the imaging control can be appropriately executed, the recognition rate of the object can be improved.

For example, if you use a millimeter-wave radar to identify the position of an object, set a brightness detection frame for the specified position, and perform exposure control, an object different from the object that is the original recognition target ( A brightness detection frame may be set for a signboard, etc.), and imaging control cannot be properly executed.

The imaging system 100 executes recognition processing on the target area of the captured image, and when the object to be recognized is recognized, sets a luminance detection frame for the object area, calculates an evaluation value, and captures the image. Take control. As a result, the area of the object can be narrowed down in units of 1 pixel (accuracy on the order of pixels), and the accuracy of calculating the evaluation value can be improved. For example, in a target region based on millimeter-wave radar, it is difficult to narrow down the region of an object in units of one pixel, and an evaluation value may be calculated including a portion other than the object.

<< 3. Hardware configuration >>
The image processing apparatus according to each of the above-described embodiments is realized by, for example, a computer 1000 having a configuration as shown in FIG. Hereinafter, the imaging system 100 according to the embodiment will be described as an example. FIG. 9 is a hardware configuration diagram showing an example of a computer 1000 that realizes the functions of the imaging system. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. Each part of the computer 1000 is connected by a bus 1050.

The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands the program stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, a program depending on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100, data used by the program, and the like. Specifically, the HDD 1400 is a recording medium for recording an information processing program according to the present disclosure, which is an example of program data 1450.

The communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits data generated by the CPU 1100 to another device via the communication interface 1500.

The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or mouse via the input / output interface 1600. Further, the CPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. Further, the input / output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media). The media includes, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory. Is.

Further, the computer 1000 is connected to a millimeter-wave radar or a camera module (corresponding to an image generation unit 107 or the like) via an input / output interface 1600.

For example, when the computer 1000 functions as the image pickup system 100 according to the embodiment, the CPU 1100 of the computer 1000 executes the image pickup control program loaded on the RAM 1200 to execute the millimeter wave transmission / reception unit 102 and the millimeter wave conversion unit 103. The functions of the position detection unit 104, the target area setting unit 105, the image reception unit 108, the recognition unit 109, the recognition result control unit 110, the detection unit 111, the image pickup control unit 112, and the like are realized. Further, the HDD 1400 stores an imaging control program and the like according to the present disclosure. The CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program, but as another example, these programs may be acquired from another device via the external network 1550.

<< 4. Conclusion >>
The imaging system has a position detection unit that detects the position of an object in the first region, an image generation unit that captures a second region including the object and generates image data, and the image data. The image is based on a target area setting unit that sets a target area corresponding to the position of the object detected by the position detection unit, a recognition unit that executes recognition processing on the target area, and the result of the recognition processing. It is provided with an image pickup control unit that executes image pickup control for the generation unit. The recognition unit recognizes an object included in the target area. The image pickup control unit executes exposure control for the image generation unit based on the result of the recognition process. The image pickup control unit executes white balance control for the image generation unit based on the result of the recognition process. The image pickup control unit executes focus control on the image generation unit based on the result of the recognition process. Thereby, the imaging control can be appropriately executed. Moreover, since the imaging control can be appropriately executed, the recognition rate of the object can be improved.

The image pickup control unit executes image pickup control on the image generation unit based on the area of the object recognized by the recognition unit in the target area. The recognition unit further executes a recognition process on the image data, and the image pickup control unit recognizes the image data by the recognition process when the recognition process on the image data is successful by the recognition unit. Image control is executed for the image generation unit based on the area of the upper object. As a result, the area of the object can be narrowed down in units of 1 pixel, and the calculation accuracy of the evaluation value can be improved.

It should be noted that the effects described in the present specification are merely examples and are not limited, and other effects may be obtained.

The present technology can also have the following configurations.
(1)
A position detection unit that detects the position of an object in the first region,
An image generation unit that captures a second region including the object and generates image data,
A target area setting unit that sets a target area corresponding to the position of the object detected by the position detection unit with respect to the image data.
A recognition unit that executes recognition processing for the target area,
An image pickup control unit that executes image pickup control on the image generation unit based on the result of the recognition process.
Imaging system with.
(2)
The imaging system according to (1) above, wherein the recognition unit recognizes an object included in the target region.
(3)
The image pickup system according to (2) above, wherein the image pickup control unit executes image pickup control on the image generation unit based on an object area recognized by the recognition unit in the target area.
(4)
The imaging system according to (1), (2) or (3), wherein the image pickup control unit executes exposure control for the image generation unit based on the result of the recognition process.
(5)
The imaging system according to any one of (1) to (4), wherein the image pickup control unit executes white balance control for the image generation unit based on the result of the recognition process.
(6)
The image pickup system according to any one of (1) to (5) above, wherein the image pickup control unit executes focus control on the image generation unit based on the result of the recognition process.
(7)
The recognition unit further executes a recognition process on the image data, and the image pickup control unit recognizes the image data by the recognition process when the recognition process on the image data is successful by the recognition unit. The imaging system according to any one of (1) to (6) above, which executes imaging control for the image generation unit based on the region of the above object.
(8)
The computer
Detect the position of the object in the first region and
The image data is acquired from a camera module that captures a second region including the object and generates image data.
A target area corresponding to the position of the object is set for the image data, and the target area is set.
The recognition process is executed for the target area, and the recognition process is performed.
An imaging control method that performs a process of executing imaging control on the image based on the result of the recognition process.
(9)
Computer,
A position detection unit that detects the position of an object in the first region,
An image generation unit that captures a second region including the object and generates image data,
A target area setting unit that sets a target area corresponding to the position of the object detected by the position detection unit with respect to the image data.
A recognition unit that executes recognition processing for the target area,
An image pickup control unit that executes image pickup control on the image generation unit based on the result of the recognition process.
An imaging control program to function as.

100 Imaging system 101 Antenna 102 Millimeter wave transmission / reception unit 103 mm wave conversion unit 104 Position detection unit 105 Target area setting unit 106 Conversion table 107 Image generation unit 108 Image reception unit 109 Recognition unit 110 Recognition result control unit 111 Detection unit 112 Imaging control unit

Claims (9)

A position detection unit that detects the position of an object in the first region,
An image generation unit that captures a second region including the object and generates image data,
A target area setting unit that sets a target area corresponding to the position of the object detected by the position detection unit with respect to the image data.
A recognition unit that executes recognition processing for the target area,
An image pickup control unit that executes image pickup control on the image generation unit based on the result of the recognition process.
Imaging system with. The imaging system according to claim 1, wherein the recognition unit recognizes an object included in the target region. The imaging system according to claim 2, wherein the imaging control unit executes imaging control on the image generation unit based on an object region recognized by the recognition unit in the target region. The imaging system according to claim 1, wherein the image pickup control unit executes exposure control for the image generation unit based on the result of the recognition process. The imaging system according to claim 1, wherein the image pickup control unit executes white balance control for the image generation unit based on the result of the recognition process. The imaging system according to claim 1, wherein the image pickup control unit executes focus control on the image generation unit based on the result of the recognition process. The recognition unit further executes a recognition process on the image data, and the image pickup control unit recognizes the image data by the recognition process when the recognition process on the image data is successful by the recognition unit. The imaging system according to claim 1, wherein the imaging control for the image generation unit is executed based on the region of the above object. The computer
Detect the position of the object in the first region and
The image data is acquired from a camera module that captures a second region including the object and generates image data.
A target area corresponding to the position of the object is set for the image data, and the target area is set.
The recognition process is executed for the target area, and the recognition process is performed.
An imaging control method that performs a process of executing imaging control on the image based on the result of the recognition process. Computer,
A position detection unit that detects the position of an object in the first region,
An image generation unit that captures a second region including the object and generates image data,
A target area setting unit that sets a target area corresponding to the position of the object detected by the position detection unit with respect to the image data.
A recognition unit that executes recognition processing for the target area,
An image pickup control unit that executes image pickup control on the image generation unit based on the result of the recognition process.
An imaging control program to function as.

Images