JP2021197572A - Camera control apparatus and program - Google Patents

Abstract

To detect a position of a subject without using positional information obtained from external and to always keep the subject within a visual field of a camera.SOLUTION: A capturing area division unit 10 of a camera control apparatus 3 divides an image of a capturing area 110 in a capturing video image into images of a predetermined number of areas having a predetermined shape in accordance with a predetermined rule. A subject position detection unit 11 detects a subject 120 from a plurality of divided images, and generates positional information including a position of the subject 120. A camera control unit 12 obtains posture information of a robot camera 4 on the on positional information by means of a control table 20. A camera communication unit 13 generates a control signal including the posture information and transmits the control signal to the robot camera 4. Thereby, the robot camera 4 operates in accordance with the posture information included in the control signal.SELECTED DRAWING: Figure 1

Description

The present invention relates to a camera control device and a program.

Conventionally, there is known a technique of reconstructing a three-dimensional model of a subject from images captured by a plurality of cameras and obtaining a virtual viewpoint image from an arbitrary position where the cameras are not arranged.

For example, by using a camera equipped with an electric pan head (hereinafter referred to as "robot camera") as the camera to be arranged, it is possible to always shoot the subject without removing it from the angle of view of the robot camera. Even when a limited number of robot cameras are used, it is possible to take a picture with both accuracy and a degree of freedom (see, for example, Patent Document 1).

Further, as a technique for controlling the position of the robot camera so as not to deviate the subject from the angle of view, a method using the position information of the subject has been proposed (see, for example, Patent Document 2). In this method, the position information of the subject is acquired from the outside, the timing information indicating the passage of time is acquired, and the camera work of the robot camera that shoots the subject is controlled based on the position information and the timing information of the subject. Is.

Further, a method of detecting a subject from an image captured by a sensor camera and taking a picture while automatically tracking the subject with a robot camera has also been proposed (see, for example, Patent Document 3). In this method, a plurality of colors constituting the surface of the subject are set in advance, a portion having the plurality of preset colors is extracted as an image portion from the captured image, and the subject is detected based on the image information. However, it automatically tracks the subject.

Japanese Unexamined Patent Publication No. 2019-67419 International Publication No. 2017/154953 Japanese Patent No. 3704201

The method of Patent Document 2 described above is to acquire the position information of the subject from the satellite of GNSS (Global Navigation Satellite System) and read the camera work corresponding to the position information from the camera work information table set. Control the robot camera.

However, this method cannot be operated when the device for acquiring the position information is not attached to the subject, and can be operated efficiently in the environment where the position information cannot be received from the satellite. Can not.

Further, in the method of Patent Document 3 described above, when the posture of the robot camera becomes unstable due to a control error, the subject may be out of the field of view of the camera, and a part of the subject may have a missing angle of view. Yes, it is not always possible to obtain effective images.

Therefore, it has been desired to be able to detect the position of the subject without using the position information acquired from the outside and control the robot camera at high speed and accurately.

Therefore, the present invention has been made to solve the above-mentioned problems, and an object thereof is to detect the position of a subject without using position information obtained from the outside and always keep the subject within the field of view of the camera. To provide possible camera controls and programs.

In order to solve the above-mentioned problems, the camera control device according to claim 1 is set in advance by inputting a captured image including a subject in the imaging area captured by the bird's-eye view camera in the camera control device that controls the posture of the camera. By dividing the imaging area into a plurality of areas in accordance with the above rules, the imaging area division unit for extracting the divided images corresponding to each of the plurality of areas from the image of the captured image, and the imaging area division unit. Subject position detection that detects one area in which the subject exists from the plurality of areas based on the divided image corresponding to each of the extracted plurality of areas, and generates position information including the one area. A control table in which parameters indicating the posture of the camera are stored is held corresponding to each of the unit and the plurality of areas, and is included in the position information generated by the subject position detection unit from the control table. A camera control unit that reads out the parameter corresponding to the one area and generates attitude information including the parameter, and a camera that transmits a control signal including the attitude information generated by the camera control unit to the camera. It is characterized by having a communication unit.

Further, in the camera control device according to claim 2, in the camera control device according to claim 1, the camera control unit corresponds to each of the plurality of areas, and in addition to the posture of the camera, the lens of the camera. It is characterized in that it holds a control table in which parameters indicating a zoom rotation amount and a focus rotation amount of the above are stored, and reads out the parameter corresponding to the one area included in the position information from the control table.

Further, the camera control device according to claim 3 is the camera control device according to claim 1, wherein the subject position detecting unit is based on the divided image corresponding to each of the plurality of areas. It is characterized in that the silhouette area of the subject is detected for each of the areas, the one area having the largest silhouette area is specified, and the position information including the one area is generated.

Further, in the camera control device according to the fourth aspect, in the camera control device according to the first or second aspect, the subject position detection unit is based on the divided image corresponding to each of the plurality of areas. One or a plurality of existing areas are detected, position information including an area pattern indicating the one or a plurality of areas is generated, and the camera control unit generates one or a plurality of areas in which the subject may exist. A control table in which the parameters are stored is held corresponding to each of all the area patterns indicating the above, and the area pattern included in the position information generated by the subject position detection unit is supported from the control table. It is characterized in that the said parameter is read out.

Further, the camera control device according to claim 5 is the camera control device according to claim 1 or 2, wherein the subject position detecting unit has the plurality of said ones based on the divided images corresponding to each of the plurality of areas. The silhouette area of the subject is detected for each of the areas, position information including the area and the silhouette area of the area is generated, and the camera control unit stores the parameters corresponding to each of the plurality of areas. The control table is held, and the parameter corresponding to the area included in the position information generated by the subject position detection unit is read from the control table, and the parameter is obtained with respect to the entire silhouette area of the subject. The weighted average of the silhouette area of the area is obtained, and the posture information including the parameter of the weighted average is generated.

The camera control device according to claim 6 is the camera control device according to any one of claims 1 to 5, wherein the center of the imaging area is the origin and the line passes from the origin to the camera installation position. Assuming that the point on the plane of the imaging area is represented by the polar coordinates (r, δ) of the distance r from the origin and the deviation angle δ from the starting line, the imaging area dividing portion The plurality of divided areas are defined as regions in which the imaging area is divided in the polar coordinates or in the horizontal or vertical direction with respect to the optical axis of the camera.

Further, in the camera control device according to claim 7, in the camera control device according to any one of claims 1 to 6, the camera control device controls a plurality of cameras, and the camera control unit controls the plurality of cameras. The control table is held for each of the plurality of cameras, the attitude information is generated using the corresponding control table for each of the plurality of cameras, and the camera communication unit is generated by the camera control unit. It is characterized in that a control signal including the attitude information is transmitted to each of the corresponding plurality of cameras.

Further, in the camera control device according to claim 8, in the camera control device according to any one of claims 1 to 6, the camera control device controls a plurality of cameras, and the camera control unit controls the plurality of cameras. The control table is held for any one of the plurality of cameras, the attitude information is generated for the one camera using the control table, the attitude information, and the one camera and the said one. The posture information of the other camera is generated based on the relationship between the position and the posture of the other cameras among the plurality of cameras, and the camera communication unit generates the posture generated by the camera control unit. It is characterized in that a control signal including information is transmitted to each of the plurality of corresponding cameras.

Further, the program of claim 9 is characterized in that the computer functions as the camera control device according to any one of claims 1 to 8.

As described above, according to the present invention, the position of the subject can be detected without using the position information obtained from the outside, and the subject can always be within the field of view of the camera.

It is a block diagram which shows the whole structure example of the image pickup system which includes the camera control device by embodiment of this invention. It is a figure explaining an example of an imaging environment and area division. It is a flowchart which shows the processing example of Example 1. FIG. It is a figure explaining the example of the position of the subject in the image pickup area in Example 1. FIG. It is a figure which shows the structural example of the control table in Example 1. FIG. It is a figure which shows the structural example of the control table in the modification of Example 1. FIG. It is a flowchart which shows the processing example of Example 2. It is a figure explaining the example of the position of the subject in the image pickup area in Example 2. FIG. It is a flowchart which shows the processing example of the modification of Example 2. It is a figure which shows the structural example of the control table in the modification of Example 2. FIG. It is a flowchart which shows the processing example of Example 3. FIG. It is a figure explaining the example of the position and area division of a robot camera in Example 4. FIG. It is a figure explaining the example of the image pickup environment, the position of a robot camera, and the area division in Example 4. FIG. FIG. 5 is a diagram illustrating an example of a position and area division of a robot camera in the fifth embodiment. It is a figure explaining the process of generating the posture information of two robot cameras using one control table when two robot cameras are installed in a space.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
[Imaging system]
First, the imaging system will be described. FIG. 1 is a block diagram showing an overall configuration example of an imaging system including a camera control device according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an example of an imaging environment and area division.

The image pickup system 1 includes a bird's-eye view camera 2, a camera control device 3, and one or a plurality of robot cameras 4. The image pickup system 1 detects the subject 120 existing in the image pickup area 110 from the image of the image captured by the bird's-eye view camera 2, and sets the robot camera 4 so that the subject 120 is always within the field of view of the robot camera 4. It is a system to control.

The subject 120 exists on the stage 115 in the imaging area 110, and the bird's-eye view camera 2 and the robot camera 4 are attached to, for example, a hemispherical mounting member 116, so that the mounting member 116 covers the subject 120. It is installed in. In FIG. 2, the bird's-eye view camera 2 is installed at the apex of the hemispherical mounting member 116 so as to take a bird's-eye view of the subject 120.

The bird's-eye view camera 2 is a camera that captures the subject 120, and outputs the captured image to the camera control device 3. The bird's-eye view camera 2 is a camera or a robot camera attached to the image pickup area 110 at least 80% or more, preferably 100% of the bird's-eye view position, for example, an elevation angle of 45 ° or more, preferably an elevation angle of 80 ° from the image pickup area 110. The bird's-eye view camera 2 may be a camera mounted on a drone and can be placed in the air.

The camera control device 3 inputs an captured image from the bird's-eye view camera 2, detects the position of the subject 120 in the imaging area 110 based on the image of the captured image, and generates a control signal such as a posture according to the position. , The control signal is transmitted to the robot camera 4.

The robot camera 4 receives a control signal, controls pan, tilt, and the like based on the control signal, and changes the posture and the like. As a result, the robot camera 4 can keep the subject 120 in the field of view.

Here, the imaging area 110 is divided into a plurality of areas according to a preset rule. For example, in FIG. 2, the image pickup area 110 is an area photographed by the bird's-eye view camera 2 when the stage 115 is viewed from the bird's-eye view camera 2, and its shape is a circle. It is assumed that the imaging area 110 is divided into four areas 111 to 114 in the order of clockwise from the upper right by two straight lines in the cross direction passing through the centers of the circles of the imaging area 110 at right angles. That is, the areas 111 to 114 are areas in which the imaging area 110 is divided by two straight lines in the cross direction passing through the center of the circle.

With reference to FIG. 1, the camera control device 3 includes an image pickup area dividing unit 10, a subject position detection unit 11, a camera control unit 12, and a camera communication unit 13. The camera control unit 12 holds a preset control table 20.

The image pickup area dividing unit 10 inputs an image captured image from the bird's-eye view camera 2. Then, the image pickup area dividing unit 10 divides the image of the image pickup area 110 in the image pickup image into the images of the four areas 111 to 114 according to the preset rule, and as shown in FIG. 2, the areas 111 to 114. Extract the divided image of. The imaging area division unit 10 outputs the divided images of the areas 111 to 114 to the subject position detection unit 11.

The subject position detection unit 11 inputs divided images of areas 111 to 114 from the imaging area dividing unit 10, detects the subject 120 from these divided images, and generates position information indicating the position of the subject 120. Then, the subject position detection unit 11 outputs the position information of the subject 120 to the camera control unit 12.

Specifically, the time when the subject 120 does not exist in the field of view of the bird's-eye camera 2 (in the image pickup area 110) and T0 are set, and the time when the subject 120 exists in the field of view of the bird's-eye camera 2 is T1. The subject position detection unit 11 uses known processing of background subtraction using divided images of areas 111 to 114 at times T0 and T1, chroma key to transmit a specific color, or Luminance key to transmit a specific brightness to transmit the subject 120. Detects the position of.

The camera control unit 12 inputs the position information of the subject 120 from the subject position detection unit 11, and generates the posture information of the robot camera 4 based on the position information by using the preset control table 20. The control table 20 stores the position information of the subject 120 and the parameters indicating the posture of the robot camera 4 corresponding to the position information. Then, the camera control unit 12 outputs the posture information to the camera communication unit 13.

The camera communication unit 13 inputs attitude information from the camera control unit 12, generates a control signal including the attitude information, and transmits the control signal to the robot camera 4. As a result, the robot camera 4 can change its posture according to the posture information included in the control signal and keep the subject 120 in the field of view.

Hereinafter, the processing of the camera control device 3 will be specifically described with reference to examples.

[Example 1]
First, Example 1 will be described. The first embodiment is an example in which the subject 120 is housed in any one of the areas 111 to 114 in the imaging area 110.

FIG. 3 is a flowchart showing a processing example of the first embodiment, and shows the processing of the camera control device 3 shown in FIG. FIG. 4 is a diagram illustrating an example of the position of the subject 120 in the imaging area 110 in the first embodiment.

As shown in FIG. 4, it is assumed that the subject 120 exists in the area 111 of the areas 111 to 114 in the imaging area 110 and does not exist in the areas 112 to 114.

The image pickup area division unit 10 of the camera control device 3 inputs the image pickup image from the bird's-eye view camera 2 (step S301), divides the image pickup area 110 of the image pickup image into areas 111 to 114, and extracts the divided image (step S302). ..

The subject position detection unit 11 detects the position of the subject 120 from the divided images of the areas 111 to 114 by the above-mentioned processing such as background subtraction (step S303). In the case of this example, the subject position detection unit 11 detects that the subject 120 exists in the area 111. Then, the subject position detection unit 11 generates position information including the area x = 111 (step S304).

FIG. 5 is a diagram showing a configuration example of the control table 20-1 in the first embodiment. The control table 20-1 is composed of an area x and a pan / tilt value LUT (x) which is a parameter (posture parameter) indicating a posture corresponding to the area x. The pan / tilt value LUT (x) is composed of a pan value Pan and a tilt value Tilt in the area x.

The control table 20-1, the area x = pan-tilt value LUT (111) in response to _{111 = (φ 111, θ 111} ) is stored. Further, the pan / tilt value LUT (112) = (φ ₁₁₂ , θ ₁₁₂ ) corresponding to the area x = 112, and the pan / tilt value LUT (113) = (φ ₁₁₃ , θ _{113) corresponding to the area x = 113.} ) Is stored. Also, the area x = pan-tilt value LUT (114) in response to _{114 = (φ 114, θ 114} ) is stored.

Returning to FIG. 3, the camera control unit 12, the control table 20-1, the position pan-tilt value LUT (111) corresponding to the area x = 111 included in the information = (φ _111, θ ₁₁₁₎ reads the ( Step S305). Then, the camera control unit 12 generates posture information including the _{pan value φ 111} and the tilt value θ _{111 (step S306).}

The camera communication unit 13 _{generates a control signal including the pan value φ 111} and the tilt value θ ₁₁₁ of the attitude information, and transmits the control signal to the robot camera 4 (step S307).

As a result, the robot camera 4 can fit the subject 120 within the field of view by changing the posture according _{to the pan value φ 111} and the tilt value θ _{111 included in the control signal.} The posture of the robot camera 4 can be controlled by the camera control device 3 of the first embodiment.

[Modification of Example 1]
Next, a modified example of the first embodiment will be described. The modification of the first embodiment is an example in which, in addition to the posture of the robot camera 4 in the first embodiment, the zoom rotation amount and the focus rotation amount, which are the lens parameters of the robot camera 4, are also controlled. This also applies to Examples 2, Modifications of Example 2, Examples 3, Example 4, and Example 5 described later.

FIG. 6 is a diagram showing a configuration example of the control table 20-1'in the modified example of the first embodiment. The control table 20-1'consists of an area x, a pan / tilt value and a zoom / focus rotation amount LUT (x) which are attitude parameters and lens parameters corresponding to the area x. The lens parameters are the zoom rotation amount and the focus rotation amount of the lens provided in the robot camera 4. The pan / tilt value and the zoom / focus rotation amount LUT (x) are composed of the pan value Pan, the tilt value Tilt, the zoom rotation amount Zoom, and the focus rotation amount Focus in the area x.

The control table 20-1 ', pan-tilt value and zoom focus rotation amount _{LUT (111) = (φ 111} , θ 111, Z 111, F 111) are stored in correspondence with the area x = 111 .. Further, the pan / tilt value and the zoom / focus rotation amount LUT (112) = (φ ₁₁₂ , θ ₁₁₂ , Z ₁₁₂ , F ₁₁₂ ) are stored corresponding to the area x = 112. Further, the pan / tilt value and the zoom / focus rotation amount LUT (113) = (φ ₁₁₃ , θ ₁₁₃ , Z ₁₁₃ , F ₁₁₃ ) are stored corresponding to the area x = 113. Also, the pan-tilt values and the zoom and focus rotation amount _{LUT (114) = (φ 114} , θ 114, Z 114, F 114) are stored in correspondence with the area x = 114.

The camera control unit 12, the control table 20-1 from 'pan-tilt values corresponding to the area x = 111 included in the position information and the zoom and focus rotation amount _{LUT (111) = (φ 111} , θ 111, Z 111 , F ₁₁₁ ) is read. Then, the camera control unit 12 generates posture lens information including _{a pan value φ 111} , a tilt value θ ₁₁₁ , a zoom rotation amount Z _111, and a focus rotation amount F _111.

The camera communication unit 13 _{generates a control signal including the pan value φ 111} and the tilt value θ ₁₁₁ of the attitude information, and the zoom rotation amount Z ₁₁₁ and the focus rotation amount F ₁₁₁ of the lens information, and transmits the control signal to the robot camera 4. do.

As a result, the robot camera 4 can fit the subject 120 within the field of view by changing the posture according _{to the pan value φ 111} and the tilt value θ _{111 included in the control signal.} Further, by changing the degree of enlargement and the focal length of the image according to the zoom rotation amount Z ₁₁₁ and the focus rotation amount F _{111 included in the control signal, the subject 120 is photographed in a desired size and in focus.} Can be done. That is, the posture and lens of the robot camera 4 can be controlled by the camera control device 3 of the modified example of the first embodiment.

[Example 2]
Next, Example 2 will be described. The above-mentioned Example 1 is an example in which the subject 120 is contained in the area 111, while the second embodiment is a case in which the subject 120 is present over all the areas 111 to 114 in the imaging area 110. This is an example.

The second embodiment is an example in which the silhouette area is controlled when the subject 120 exists not only in the area 111 but also in the areas 112 to 114. The silhouette area control is a control that specifies one area where the silhouette area of the subject 120 is maximum and uses the posture information corresponding to the specified one area.

FIG. 7 is a flowchart showing a processing example of the second embodiment, and shows silhouette area control by the camera control device 3 shown in FIG. FIG. 8 is a diagram illustrating an example of the position of the subject 120 in the imaging area 110 in the second embodiment.

As shown in FIG. 8, the subject 120 exists over all of the areas 111 to 114 in the imaging area 110. The silhouette areas of the subject 120 in the areas 111 to 114 are S _subject (111), S _subject (112), S _subject (113), and S _subject (114), respectively. Here, S _subject (111)> S _subject (114)> S _subject (112) = S _subject (113).

The image pickup area division unit 10 of the camera control device 3 inputs the image pickup image from the bird's-eye view camera 2 (step S701), divides the image pickup area 110 of the image pickup image into areas 111 to 114, and extracts the divided image (step S702). ..

_{The subject position detection unit 11 obtains the silhouette area S subject} (x) of the subject 120 from the divided image by the above-mentioned processing such as background subtraction for each area (for each of the areas 111 to 114) (step S703). x = 111-114.

The subject position detection unit 11 _{compares the silhouette area S subject} (x) between the areas 111 to 114. Then, the subject position detection unit 11 _{identifies the maximum area x = 111 of the silhouette area S subject} (x) and generates position information including the area x = 111 (step S704).

The camera control unit 12, the control table 20-1 shown in FIG. 5, the pan-tilt value _{LUT (111) = (φ 111} , θ 111) corresponding to the area x = 111 included in the position information read out (step S705). Then, the camera control unit 12 generates posture information including the _{pan value φ 111} and the tilt value θ _{111 (step S706).}

The camera communication unit 13 _{generates a control signal including the pan value φ 111} and the tilt value θ ₁₁₁ of the attitude information, and transmits the control signal to the robot camera 4 (step S707).

As a result, the robot camera 4 can fit the subject 120 within the field of view by changing the posture according _{to the pan value φ 111} and the tilt value θ _{111 included in the control signal.}

[Modification of Example 2]
Next, a modified example of the second embodiment will be described. The modification of the second embodiment is an example in which the list control is performed when the subject 120 exists not only in the area 111 but also in the areas 112 to 114. The list control is a control in which one or a plurality of areas where the silhouette of the subject 120 exists is specified, and the posture information corresponding to the specified one or a plurality of areas is used.

FIG. 9 is a flowchart showing a processing example of the modified example of the second embodiment, and shows the list control by the camera control device 3 shown in FIG.

The image pickup area division unit 10 of the camera control device 3 inputs the image pickup image from the bird's-eye view camera 2 (step S901), divides the image pickup area 110 of the image pickup image into areas 111 to 114, and extracts the divided image (step S902). ..

The subject position detection unit 11 detects the areas x = 111, 112, 113, 114 in which the subject 120 exists as shown in the example shown in FIG. 8 by processing the background subtraction and the like described above from the divided images of the areas 111 to 114. (Step S903). Then, the subject position detection unit 11 generates position information including the area pattern x'= 111, 112, 113, 114 (step S904).

FIG. 10 is a diagram showing a configuration example of the control table 20-2 in the modified example of the second embodiment. The control table 20-2 is composed of an area pattern x'and a pan / tilt value LUT (x') which is a posture parameter corresponding to the area pattern x'. The area pattern x'of the control table 20-2 is all patterns in which the subject 120 can exist in one or more of the areas 111, 112, 113, 114.

The control table 20-2, the area pattern x '= pan-tilt value LUT (111) in response to _{111 = (φ 111, θ 111} ) is stored. Further, the pan / tilt value LUT (112) = (φ ₁₁₂ , θ ₁₁₂ ) is stored corresponding to the area pattern x'= 112. _{Similarly, the pan / tilt value LUT (141) = (φ 141} , θ ₁₄₁ ) is stored corresponding to the area pattern x'= 111, 112, 113, 114.

Returning to FIG. 9, the camera control unit 12 has a pan / tilt value LUT (111, 112, 113) corresponding to the area pattern x'= 111, 112, 113, 114 included in the position information from the control table 20-2. , 114) = (φ ₁₄₁ , θ ₁₄₁ ) is read out (step S905). Then, the camera control unit 12 generates posture information including the _{pan value φ 141} and the tilt value θ _{141 (step S906).}

The camera communication unit 13 _{generates a control signal including the pan value φ 141} and the tilt value θ ₁₄₁ of the attitude information, and transmits the control signal to the robot camera 4 (step S907).

As a result, the robot camera 4 can fit the subject 120 within the field of view by changing the posture according _{to the pan value φ 141} and the tilt value θ _{141 included in the control signal.}

[Example 3]
Next, Example 3 will be described. The third embodiment is an example in which the weight averaging control is performed when the subject 120 is present over a plurality of areas 111 to 114 in the imaging area 110. The weighted average control is a control that specifies one or a plurality of areas in which the silhouette of the subject 120 exists, and uses weighted average posture information obtained from the area of the silhouette of the subject 120 for the specified one or a plurality of areas. ..

In Examples 1 and 2, an example in which the imaging area 110 is divided into four areas 111 to 114 has been described. Here, when the imaging area 110 is divided into n areas (n is an integer of 2 or more), the number of pan / tilt value LUTs (x) stored in advance in the control table 20 is _n C ₁ +. _n C ₂ ... _n C _n-1 + _n C _n . As the number of divisions increases, the number of pan / tilt value LUTs (x) stored in the control table 20 also increases, which becomes complicated.

Therefore, by performing the weight averaging control of the third embodiment, the number of pan / tilt value LUTs (x) stored in advance in the control table 20 is reduced, and the subject 120 is placed in the field of view of the robot camera 4 with high accuracy. I tried to fit it.

FIG. 11 is a flowchart showing a processing example of the third embodiment, and shows weight averaging control by the camera control device 3 shown in FIG.

The image pickup area division unit 10 of the camera control device 3 inputs the image pickup image from the bird's-eye view camera 2 (step S1101), divides the image pickup area 110 of the image pickup image into areas 111 to 114, and extracts the divided image (step S1102). ..

_{The subject position detection unit 11 obtains the silhouette area S subject} (x) of the subject 120 from the divided image by the above-mentioned processing such as background subtraction for each area (for each of the areas 111 to 114) (step S1103). x = 111-114.

The subject position detection unit 11 generates position information including the area x and the silhouette area S _subject (x) (step S1104).

Here, the silhouette areas of the subject 120 in the areas 111 to 114 obtained by the subject position detection unit 11 are S _subject (111), S _subject (112), S _subject (113), and S _subject (114), respectively.

The camera control unit 12 reads out the pan / tilt value LUT (x) of the area x included in the position information from the control table 20-1 shown in FIG. 5 (step S1105). Then, the camera control unit 12 calculates the weighted average of the pan / tilt value LUT (x) by the silhouette area S _subject (x) for each area included in the position information, and obtains the pan value φ and the tilt value θ. (Step S1106). The weighted average by the silhouette area S _subject (x) is the weighted average of the pan / tilt value LUT (x) with the ratio of _{the silhouette area S subject} (x) of the area x to the total silhouette area of the subject 120 as a weight. Is the process of finding.

The camera control unit 12 generates posture information including the pan value φ and the tilt value θ (step S1107).

Specifically, the camera control unit 12, positions the pan-tilt value LUT (111) corresponding to the area x = 111 or the like included in the information = (φ _111, θ ₁₁₁₎ reads the like. Similarly, the camera control unit 12 has a pan / tilt value LUT (112) = (φ ₁₁₂ , θ ₁₁₂ ), LUT (113) = (φ ₁₁₃ , θ ₁₁₃ ), LUT (114) = (φ ₁₁₄ , θ _114). ) Is read.

ｆは、例えば増加関数である。 The camera control unit 12 calculates a weighted average of the pan / tilt value LUT (x) _{based on the silhouette area S subject} (x) included in the position information based on the following equation (1), and the pan value φ and the tilt. Find the value θ. The camera control unit 12 may obtain the pan value φ and the tilt value θ by using the following equation (2).

f is, for example, an increasing function.

The camera communication unit 13 generates a control signal including the pan value φ and the tilt value θ of the attitude information, and transmits the control signal to the robot camera 4 (step S1108).

As a result, the robot camera 4 can fit the subject 120 within the field of view by changing the posture according to the pan value φ and the tilt value θ included in the control signal. In this case, since the camera control unit 12 _{calculates the weighted average by the silhouette area S subject} (x) and obtains the pan value φ and the tilt value θ, the pan / tilt value LUT of the control table 20-1 ( It is not necessary to increase the number of x). That is, it is possible to realize highly accurate attitude control by using a small number of pan / tilt values LUT (x).

The camera control unit 12 _{calculates the weighted average based on the silhouette area S subject} (x), but calculates the weighted average based on the area S _area (x) excluding the subject 120 in the area. You may.

_{Specifically, the camera control unit 12 subtracts the silhouette area S subject} (x) of the area x included in the position information from the area of the area x, and the area S _area (x) other than the subject 120 in the area x. Ask for. Then, the camera control unit 12 reads out the pan / tilt value LUT (x) of the area x included in the position information from the control table 20-1.

ｇは、例えば減少関数である。 The camera control unit 12 calculates a weighted average of the pan / tilt value LUT (x) by _{the area S area} (x) other than the subject 120 in the area x based on the following equation (3), and the pan value φ. And the tilt value θ. The camera control unit 12 may obtain the pan value φ and the tilt value θ by using the following equation (4).

g is, for example, a decreasing function.

[Example 4]
Next, Example 4 will be described. In order to control the robot camera 4 with high accuracy, the imaging area 110 may be divided into smaller parts, and a control table 20 in which the pan / tilt value LUT (x) corresponding to each area may be stored may be used.

In the fourth embodiment, the robot is used by using a plurality of areas in the imaging area 110 in the first embodiment, the modified example of the first embodiment, the second modified example, the modified example of the second embodiment, and the third embodiment. This is an example of controlling the camera 4 with high accuracy.

As described above, the image pickup area dividing unit 10 of the camera control device 3 divides the image of the image pickup area 110 into the images of the four areas 111 to 114 as shown in FIG. 2 according to the preset rules. In the fourth embodiment, the image pickup area dividing unit 10 further divides the image of the image pickup area 110 according to a preset rule.

FIG. 12 is a diagram illustrating an example of the position and area division of the robot camera in the fourth embodiment. In (1) to (3), the center of the imaging area 110 is the origin, the line passing from the origin to the installation position of the robot camera 4 is the starting line, and the points on the plane of the imaging area 110 are the distance r from the origin and It is represented by the polar coordinates (r, δ) of the deviation angle δ from the origin line.

A rule is defined for the imaging area 110 to divide the image into the areas shown in (1) to (3) according to the distance r and the declination δ, which are the parameters of the polar coordinates (r, δ). The image pickup area dividing unit 10 divides the image of the image pickup area 110 into a plurality of areas divided by polar coordinates as described in (1) to (3) according to a preset rule. The plurality of areas divided by the image pickup area dividing unit 10 are areas in which the image pickup area 110 is divided by polar coordinates.

The rule (1) is that in the imaging area 110, the distance r and the declination δ, which are the parameters of the polar coordinates (r, δ), are set at regular intervals so that the area becomes sparse and dense according to the distance r and the declination δ. It is something to do. According to the rule (1), it is possible to divide a fine area, and the number of pan / tilt value LUTs (x) stored in the control table 20 increases, but the robot camera 4 can be controlled with high accuracy.

The rule (2) divides the imaging area 110 so that the vicinity of the center is a sparse area and the area other than the center is a dense area. According to the rule (2), it is suitable to use the robot camera 4 installed at a bird's-eye view position higher than the subject 120. Since the subject 120 is overlooked at a high position by the robot camera 4, changes in the pan value and the tilt value are small in the area near the center, and the area can be sparse.

The rule (3) divides the imaging area 110 so that the area close to the robot camera 4 is a sparse area and the area far from the robot camera 4 is a dense area. It can be divided into different categories at the back. Assuming that the size of the subject 120 is the same in the front and the back, the front is a wide angle of view, so the number of areas is small, and the back is a narrow angle of view, so the number of areas is large. It is necessary to reduce the area. That is, in front of the robot camera 4, attitude control with a small number of areas is performed, and in the back, highly accurate attitude control with a large number of areas is performed. As a result, control of the robot camera 4 is performed in the front and back. It can be preferably realized according to the region of.

FIG. 13 is a diagram illustrating an example of the imaging environment, the position of the robot camera, and the area division in the fourth embodiment, and shows an example different from the area division shown in FIG. The robot camera 4 is installed at a bird's-eye view position higher than the subject 120.

As shown on the right side of FIG. 13, this rule divides the imaging area 110 so that the area is perpendicular to the optical axis of the robot camera 4. The image pickup area dividing unit 10 divides the image of the image pickup area 110 in the direction perpendicular to the optical axis of the robot camera 4 according to a preset rule.

In this rule, since the robot camera 4 looks down on the subject 120 from a high position, the operation in the tilt direction is important. Therefore, by dividing the area so as to be perpendicular to the optical axis of the robot camera 4, it is possible to realize the operation in the tilt direction with high accuracy.

When the robot camera 4 is installed at the same height as the subject 120, it is desirable that the image pickup area 110 is divided so that the area is parallel to the optical axis of the robot camera 4. In this case, the image pickup area dividing unit 10 divides the image of the image pickup area 110 in the horizontal direction with respect to the optical axis of the robot camera 4 according to a preset rule.

For example, when the subject 120 is a person, the vertical movement is limited to jumping, bending and stretching, etc., but the horizontal movement is from one end to the other on the stage 115. The movement in the vertical direction can be dealt with by widening the angle of view of the robot camera 4, but the movement in the left-right direction can also be dealt with by widening the angle of view, and the subject 120 becomes smaller.

Therefore, in this rule, it is important for the robot camera 4 to move in the pan direction. Therefore, by dividing the area so as to be parallel to the optical axis of the robot camera 4, it is possible to realize the operation in the pan direction with high accuracy.

Similarly, when the imaging area 110 has a horizontally long shape, it is desirable that the imaging area 110 is divided so that the area is parallel to the optical axis of the robot camera 4.

[Example 5]
Next, Example 5 will be described. Example 5 is an example in which a plurality of robot cameras 4 are used in Example 1, a modified example of the first embodiment, a modified example of the second embodiment, a modified example of the second embodiment, and the third and fourth embodiments.

(Rules for division)
When a plurality of robot cameras 4 are installed in the space so as to surround the subject 120, a predetermined number and a predetermined number of image pickup areas 110 are provided according to preset rules corresponding to each of the plurality of robot cameras 4. It is divided into areas of shape. It should be noted that, in common with the plurality of robot cameras 4, the imaging areas 110 may be divided into common areas having the same number and shape.

Specifically, the image pickup area dividing unit 10 of the camera control device 3 divides the image of the image pickup area 110 in the image pickup image according to a preset rule corresponding to each of the plurality of robot cameras 4. As a result, a predetermined number of divided images are extracted corresponding to each of the plurality of robot cameras 4.

FIG. 14 is a diagram illustrating an example of the position and area division of the robot camera 4 in the fifth embodiment. In (1) and (2), the two robot cameras 4-1 and 4-2 are installed at positions where their optical axes intersect at right angles.

With reference to (1), the rule corresponding to the robot camera 4-1 is to divide the image pickup area 110 in the direction perpendicular to the optical axis of the robot camera 4-1 (thick line in the image pickup area 110). See). The image pickup area dividing unit 10 divides the image of the image pickup area 110 in the direction perpendicular to the optical axis of the robot camera 4-1 according to a preset rule corresponding to the robot camera 4-1.

Further, the rule corresponding to the robot camera 4-2 divides the image pickup area 110 in the direction perpendicular to the optical axis of the robot camera 4-2 (see the thin line in the image pickup area 110). The image pickup area dividing unit 10 divides the image of the image pickup area 110 in the direction perpendicular to the optical axis of the robot camera 4-2 according to a preset rule corresponding to the robot camera 4-2.

With reference to (2), the rule corresponding to the robot camera 4-1 is to divide the image pickup area 110 in the horizontal direction with respect to the optical axis of the robot camera 4-1 (thick line in the image pickup area 110). See). The image pickup area dividing unit 10 divides the image of the image pickup area 110 in the horizontal direction with respect to the optical axis of the robot camera 4-1 according to a preset rule corresponding to the robot camera 4-1.

Further, the rule corresponding to the robot camera 4-2 is that in the imaging area 110, the distance r and the declination δ, which are the parameters of the polar coordinates (r, δ), are set at regular intervals, and the area corresponds to the distance r and the declination δ. It is divided so that it is sparse and dense (see the thin line in the imaging area 110). The image pickup area dividing unit 10 divides the image of the image pickup area 110 in the polar coordinate (r, δ) direction according to a preset rule corresponding to the robot camera 4-2.

It should be noted that the imaging areas 110 may be divided into common areas of the same number and shape according to a preset rule common to the plurality of robot cameras 4.

(Control table 20)
Further, when a plurality of robot cameras 4 are installed in the space, different control tables 20 may be used corresponding to each of the plurality of robot cameras 4.

In this case, the camera control unit 12 holds a plurality of control tables 20 (for the number of robot cameras 4) corresponding to each of the plurality of robot cameras 4. The camera control unit 12 inputs the position information of the subject 120 from the subject position detection unit 11 for each of the plurality of robot cameras 4, and uses the corresponding control table 20 to obtain the posture information of the robot camera 4 based on the position information. demand.

The camera communication unit 13 inputs attitude information from the camera control unit 12 for each of the plurality of robot cameras 4, generates a control signal including the attitude information, and transmits the control signal to the corresponding robot camera 4.

It should be noted that only one control table 20 corresponding to one of the plurality of robot cameras 4 may be used.

Specifically, the camera control unit 12 holds a control table 20 corresponding to one predetermined robot camera 4. The camera control unit 12 corresponds to the pan / tilt corresponding to the other robot cameras 4 based on the pan / tilt value LUT (x) stored in the control table 20 and the relationship between the positions and the postures of the plurality of robot cameras 4. Calculate the value LUT (x). Then, the camera control unit 12 generates a control table 20 corresponding to the other robot camera 4. The camera control unit 12 generates posture information for each of the plurality of robot cameras 4 by using the corresponding control table 20.

In this case, the camera control unit 12 generates posture information for one predetermined robot camera 4 using the control table 20, and the posture information of the one robot camera 4 is used for the other robot camera 4. It may be converted into posture information. Specifically, the camera control unit 12 generates posture information of another robot camera 4 based on the posture information of one robot camera 4 and the relationship between the positions and postures of the plurality of robot cameras 4.

FIG. 15 shows the posture information of the two robot cameras 4-1 and 4-2 using one control table 20 when the two robot cameras 4-1 and 4-2 are installed in the space. It is a figure explaining the process of generating. Hereinafter, the camera control unit 12 generates posture information of the robot camera 4-1 using one control table 20, and uses a predetermined mathematical formula from the posture information of the robot camera 4-1 to generate the posture information of the robot camera 4-2. The process of generating posture information will be described.

For an arbitrary direction vector, let _{R a} ^(b) be a rotation matrix that transforms each component in ^{the coordinate system Σ (a) into} each component in the coordinate system Σ ^(b). Further, the vector in the coordinate system Σ ^(a) is superscripted with (a). The coordinate system fixed to the imaging area 110 is defined as the world coordinate system Σ ^(W) . Here, the first axis X and the second axis Y are taken on the floor surface of the imaging area 110, and the third axis Z is taken vertically upward. Unless otherwise noted, all coordinate systems shall be right-handed.

Further, the coordinate system fixed to the robot camera 4-1 is set as the first camera coordinate system Σ ^(c1) (solid line), and the first when both _{the pan angle φ 1} and the tilt angle θ _{1 of the robot camera 4-1 are 0.} Let the camera coordinate system Σ ^(c1) be the first reference camera coordinate system Σ ⁽ⁿ¹⁾ (broken line). In the following, it is ^{assumed that the origins of the first camera coordinate system Σ (c1)} and the first reference camera coordinate system Σ ⁽ⁿ¹⁾ are the same.

ＸＹＺ−オイラー角（α₁，β₁，γ₁）は、ロボットカメラ４−１を設置したときに決定される定数である。 For example, if the attitude of the first reference camera coordinate system Σ ^{(n1) with respect to the world coordinate system Σ (W)} is expressed by XYZ-Euler angles (α ₁ , β ₁ , γ ₁ ), the rotation matrix R _n1 ^(w) is , Expressed by the following equation.

XYZ-Euler angles (α ₁ , β ₁ , γ ₁ ) are constants determined when the robot camera 4-1 is installed.

When the pan axis of the robot camera 4-1 is the second axis of the first camera coordinate system Σ ^(c1) and the tilt axis is the first axis of the first camera coordinate system Σ ^(c1) , the rotation matrix R _c1 ⁽ⁿ¹⁾ is expressed by the following equation.

Further, the coordinate system fixed to the robot camera 4-2 is set as the second camera coordinate system Σ ^(c2) (solid line), and the second when both _{the pan value φ 2} and the tilt value θ _{2 of the robot camera 4-2 are 0.} Let the camera coordinate system Σ ^(c2) be the second reference camera coordinate system Σ ⁽ⁿ²⁾ (broken line). It is assumed that the pan axis of the robot camera 4-2 is the second axis of the second camera coordinate system Σ ^(c2) , and the tilt axis is the first axis of the second camera coordinate system Σ ^(c2) . In the following, it is ^{assumed that the origins of the second camera coordinate system Σ (c2)} and the second reference camera coordinate system Σ ⁽ⁿ²⁾ are the same.

For example, if the attitude of the second reference camera coordinate system Σ ^{(n2) with respect to the world coordinate system Σ (W)} is expressed by XYZ-Euler angles (α ₂ , β ₂ , γ ₂ ), the rotation matrix R _w ^{(n 2)} is , Expressed by the following equation.

_{Let T 1} ^(W) be a vector from the origin O of the world coordinate system Σ ^(W) to the position of the robot camera 4-1 (that is, the origin of ^{the first camera coordinate system Σ (c1)).} Further, let T ₂ ^(W) be a vector from the origin O of the world coordinate system Σ ^(W) to the position of the robot camera 4-2 (that is, the ^{origin of the second camera coordinate system Σ (c2)).}

It is assumed that the _{camera control unit 12 obtains the pan value φ 111} and the tilt value θ _111, which are the attitude information of the robot camera 4-1 using the control table 20 corresponding to the robot camera 4-1. When the robot camera 4-1 is _{controlled at the pan value φ 111} and the tilt value θ ₁₁₁ , it is determined where in the image pickup area 110 the robot camera 4-1 is capturing an image.

とする。例えば、光軸が第一カメラ座標系Σ^(c1)の第３軸と平行である場合には、以下の式にて表される。

For example, the point P where the optical axis when the robot camera 4-1 has the pan value φ ₁₁₁ and the tilt value θ ₁₁₁ intersects the floor surface of the imaging area 110 may be obtained. The unit direction vector of the optical axis of the robot camera 4-1

And. For example, when the optical axis is ^{parallel to the third axis of the first camera coordinate system Σ (c1)} , it is expressed by the following equation.

係数λは、正の実数である。

Let the position of the robot camera 4-1 be the point R ₁ . At this time, it is expressed by the following formula.

The coefficient λ is a positive real number.

の第３成分は零である。つまり、以下の式にて表される。

Here, since the point P is on the floor surface of the imaging area 110, it is a vector.

The third component of is zero. That is, it is expressed by the following equation.

Therefore, the coefficient λ is determined by the following equation.

と重なるべきであり、以下の式が成立する。

Next, the direction in which the robot camera 4-2 should be directed, that is, the direction of the optical axis is obtained. Assuming that the position of the robot camera 4-2 is the point R ₂ , the optical axis is a vector.

Should overlap, and the following equation holds.

を定めることができる。

From the above equation (9), the above equation (11) and the above equation (12), the vector in the line-of-sight direction is obtained by the following equation.

Can be determined.

When the coordinate of the equation (13) is transformed by the equation (7), it is expressed by the following equation.

の各成分を、以下の式で表す。

The vector thus obtained

Each component of is expressed by the following formula.

尚、atan２（ξ，ζ）は、２次元直交座標系における座標［ｐ，ｑ］^Tを極座標に変換した際の偏角を求める関数である。 At this time, the pan value phi _'111 and tilt values theta' ₁₁₁ should pay robot camera 4-2 is expressed by the following equation.

Note that atan2 (ξ, ζ) is a function for obtaining the declination when the ^{coordinates [p, q] T in the two-dimensional Cartesian coordinate system are converted into polar coordinates.}

As described above, the camera control unit 12 generates posture information for one predetermined robot camera 4-1 using the control table 20, and from the posture information, the other formula (16) is used. The posture information of the robot camera 4-2 of the above is calculated.

Here, instead of the above equation (16), a table including posture information of one robot camera 4-1 and posture information of another robot camera 4-2 may be used. Specifically, the camera control unit 12 generates posture information for one predetermined robot camera 4-1 using the control table 20, and the posture of one robot camera 4-1 from the table. The posture information of another robot camera 4-2 corresponding to the information is read out. Thereby, the posture information of the other robot camera 4-2 can be generated from the posture information of one robot camera 4-1.

Further, instead of using the above equation (16), a control table 20'corresponding to another robot camera 4-2 may be set in advance and the control table 20' may be used. Specifically, the camera control unit 12 previously obtains the above equation (16) from the pan / tilt value LUT (x) stored in the control table 20 corresponding to one predetermined robot camera 4-1. It is used to calculate the pan / tilt value LUT (x) of another robot camera 4-2. Then, the camera control unit 12 sets the control table 20'corresponding to the other robot camera 4-2 by using the pan / tilt value LUT (x) of the other robot camera 4-2. The camera control unit 12 generates posture information for each of the plurality of robot cameras 4-1 and 4-2 using the corresponding control tables 20 and 20'. The same process can be used for three or more robot cameras 4.

As described above, according to the camera control device 3 of the first embodiment, the modified example of the first embodiment, the modified example of the second embodiment and the second embodiment, the third embodiment, the fourth embodiment, and the fifth embodiment, the imaging area is divided. The unit 10 divides the image of the imaging area 110 in the captured image into images (divided images) of a plurality of areas having a predetermined number and a predetermined shape according to a preset rule.

The subject position detection unit 11 detects the subject 120 from a plurality of divided images and generates position information including the position of the subject 120.

The camera control unit 12 uses the control table 20 to obtain posture information and the like of the robot camera 4 based on the position information.

The camera communication unit 13 generates a control signal including posture information and the like, and transmits the control signal to the robot camera 4.

As a result, the robot camera 4 operates according to the posture information and the like included in the control signal. Therefore, the position of the subject 120 can be detected without using the position information obtained from the outside, and the subject 120 can always be within the field of view of the robot camera 4.

Further, since the posture information is generated using the preset control table 20, the amount of calculation can be reduced in the automatic control of the robot camera 4, and high-speed control can be realized.

Although the present invention has been described above with reference to Example 1 and the like, the present invention is not limited to the above-mentioned Example 1 and the like, and can be variously modified without departing from the technical idea.

As the hardware configuration of the camera control device 3 according to the first embodiment of the present invention, a normal computer can be used. The camera control device 3 is composed of a computer including a volatile storage medium such as a CPU and RAM, a non-volatile storage medium such as ROM, and an interface.

Each function of the image pickup area dividing unit 10, the subject position detection unit 11, the camera control unit 12, and the camera communication unit 13 provided in the camera control device 3 is realized by causing the CPU to execute a program describing these functions. To.

These programs are stored in the storage medium, read by the CPU, and executed. In addition, these programs can be stored and distributed in storage media such as magnetic disks (floppy (registered trademark) disks, hard disks, etc.), optical disks (CD-ROM, DVD, etc.), semiconductor memories, etc., and can be distributed via a network. You can also send and receive.

1 Imaging system 2 Overlooking camera 3 Camera control device 4 Robot camera 10 Imaging area division 11 Subject position detection unit 12 Camera control unit 13 Camera communication unit 20 Control table 110 Imaging area 111, 112, 113, 114 Area 115 Stage 116 For mounting Member 120 Subject

Claims (9)

In the camera control device that controls the posture of the camera
By inputting a captured image including a subject in the imaging area captured by the bird's-eye view camera and dividing the imaging area into a plurality of areas according to a preset rule, the plurality of areas can be obtained from the image of the captured image. An imaging area division unit that extracts the divided images corresponding to each of the above,
Based on the divided image corresponding to each of the plurality of areas extracted by the imaging area division unit, one area in which the subject exists is detected from the plurality of areas, and the position information including the one area is detected. The subject position detector that generates
A control table in which parameters indicating the posture of the camera are stored is held corresponding to each of the plurality of areas, and the 1 is included in the position information generated by the subject position detection unit from the control table. A camera control unit that reads out the parameters corresponding to one area and generates posture information including the parameters.
A camera communication unit that transmits a control signal including the attitude information generated by the camera control unit to the camera.
A camera control device characterized by being equipped with. In the camera control device according to claim 1,
The camera control unit
A control table is held in which parameters indicating the zoom rotation amount and the focus rotation amount of the lens of the camera are stored in addition to the posture of the camera corresponding to each of the plurality of areas, and the position from the control table. A camera control device for reading out the parameter corresponding to the one area included in the information. In the camera control device according to claim 1 or 2.
The subject position detection unit is
Based on the divided image corresponding to each of the plurality of areas, the silhouette area of the subject is detected for each of the plurality of areas, the one area having the largest silhouette area is specified, and the one area is specified. A camera control device characterized in that it generates location information including. In the camera control device according to claim 1 or 2.
The subject position detection unit is
Based on the divided image corresponding to each of the plurality of areas, one or a plurality of areas in which the subject exists are detected, and position information including an area pattern indicating the one or a plurality of areas is generated.
The camera control unit
A control table in which the parameters are stored is held corresponding to each of one area in which the subject may exist and all area patterns indicating a plurality of areas, and is generated from the control table by the subject position detection unit. A camera control device, characterized in that the parameter corresponding to the area pattern included in the position information is read out. In the camera control device according to claim 1 or 2.
The subject position detection unit is
Based on the divided image corresponding to each of the plurality of areas, the silhouette area of the subject is detected for each of the plurality of areas, and the position information including the area and the silhouette area of the area is generated.
The camera control unit
A control table in which the parameters are stored is held corresponding to each of the plurality of areas, and the parameters corresponding to the areas included in the position information generated by the subject position detection unit from the control table. Is read out, and for the parameter, the weighted average of the silhouette area of the area with respect to the total silhouette area of the subject is obtained, and the posture information including the parameter of the weighted average is generated. Device. The camera control device according to any one of claims 1 to 5.
With the center of the imaging area as the origin and the line passing from the origin to the installation position of the camera as the starting line, points on the plane of the imaging area are the distance r from the origin and the deviation angle δ from the starting line. As represented by the polar coordinates (r, δ) of
The plurality of areas divided by the image pickup area dividing portion are defined as areas in which the image pickup area is divided at the polar coordinates or in the horizontal or vertical direction with respect to the optical axis of the camera. Camera control device. The camera control device according to any one of claims 1 to 6.
The camera control device controls multiple cameras and
The camera control unit
The control table is held for each of the plurality of cameras, and the posture information is generated for each of the plurality of cameras using the corresponding control table.
The camera communication unit
A camera control device comprising transmitting a control signal including the posture information generated by the camera control unit to each of the plurality of corresponding cameras. The camera control device according to any one of claims 1 to 6.
The camera control device controls multiple cameras and
The camera control unit
The control table is held for any one of the plurality of cameras, the posture information is generated for the one camera using the control table, the posture information, and the one camera. Based on the position and posture relationship between the plurality of cameras and the other cameras, the posture information of the other cameras is generated.
The camera communication unit
A camera control device comprising transmitting a control signal including the posture information generated by the camera control unit to each of the plurality of corresponding cameras. A program for operating a computer as the camera control device according to any one of claims 1 to 8.

Images