JP2022049404A - Control apparatus, imaging apparatus, control method, and program - Google Patents

Abstract

To provide a control apparatus, an imaging apparatus, a control method, and a program capable of executing contrast AF even in a case where the brightness of a captured image varies.SOLUTION: In the imaging apparatus, an AF control unit acquires from an AE control unit a first luminance value derived in accordance with an algorithm predetermined about a first captured image captured by the imaging apparatus, corrects the luminance value of each pixel of a first image in a first area of the first captured image on the basis of the first luminance value of the first captured image, applies predetermined filtering to the corrected first image, derives a contrast evaluation value about the filtered first image, and executes contrast AF on the basis of the contrast evaluation value.SELECTED DRAWING: Figure 7

Description

The present invention relates to a control device, an image pickup device, a control method, and a program.

Patent Document 1 describes that "the initial drive direction of the photographing lens by the contrast AF is determined based on the photographing scene."
[Prior Art Document]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2010-217615

During the execution of contrast AF, the brightness of the image captured by the image pickup device changes, so that the position of the focus lens indicating the in-focus state may not be properly specified by the contrast AF.

The control device according to one aspect of the present invention may be a control device that controls the image pickup device. The control device may include a circuit configured to acquire a first luminance value derived according to a predetermined algorithm for the first image captured by the image pickup device. The circuit may be configured to correct the luminance value of each pixel of the first image in the first region of the first captured image based on the first luminance value of the first captured image. The circuit may be configured to apply a predetermined filtering process to the corrected first image. The circuit may be configured to derive a contrast rating value for the filtered first image. The circuit may be configured to perform contrast AF based on the contrast evaluation value.

The circuit is configured to correct the luminance value of each pixel of the first image so that the luminance value of each pixel of the first image becomes smaller when the first luminance value is larger than the predetermined luminance value. good. The circuit is configured to correct the luminance value of each pixel of the first image so that the luminance value of each pixel of the first image becomes larger when the first luminance value is smaller than the predetermined luminance value. good.

The circuit may be configured to determine a predetermined luminance value based on a luminance value derived according to a predetermined algorithm for the captured image captured by the image pickup apparatus when the contrast AF is started.

The circuit may be configured to determine the coefficients according to predetermined conditions based on the first luminance value. The circuit may be configured to correct the luminance value of each pixel of the first image according to a coefficient.

The circuit may be configured to determine as a coefficient a predetermined first coefficient less than 1 if the first luminance value is greater than the predetermined luminance value. The circuit may be configured to determine as a coefficient a predetermined second coefficient greater than 1 if the first luminance value is less than the predetermined luminance value.

The circuit may be configured to determine a predetermined luminance value based on a luminance value derived according to a predetermined algorithm for the captured image captured by the image pickup apparatus when the contrast AF is started.

The circuit may be configured to correct the luminance value of each pixel of the first image by multiplying the luminance value of each pixel of the first image by a coefficient.

The circuit may be configured to perform automatic exposure control based on the luminance values derived according to a predetermined algorithm for the captured image captured by the imaging device.

The circuit may be configured to derive the luminance value of the captured image by performing a predetermined weighting on the luminance value of each pixel of the captured image according to a predetermined algorithm.

The circuit may be configured to apply an infinite impulse response filter to the corrected first image as a predetermined filter.

The image pickup apparatus according to one aspect of the present invention may include the control device, a focus lens, and an image sensor that captures an image formed through the focus lens.

The control method according to one aspect of the present invention may be a control method for controlling an image pickup apparatus. The control method may include a step of acquiring a first luminance value derived according to a predetermined algorithm for the first captured image captured by the imaging device. The control method may include a step of correcting the luminance value of each pixel of the first image in the first region of the captured image based on the first luminance value of the first captured image. The control method may include a step of applying a predetermined filtering process to the corrected first image. The control method may include a step of deriving a contrast evaluation value for the filtered first image. The control method may include a step of performing contrast AF based on the contrast evaluation value.

The program according to one aspect of the present invention may be a program for operating a computer as the control device.

According to one aspect of the present invention, even if the brightness of the image captured by the image pickup device changes during the contrast AF, the position of the focus lens indicating the in-focus state can be more appropriately specified by the contrast AF. ..

The outline of the above invention does not list all the necessary features of the present invention. A subcombination of these feature groups can also be an invention.

It is a figure which shows an example of the functional block of an image pickup apparatus. It is a figure for demonstrating a captured image and a tile. It is a figure which shows an example of the weighting assigned to each pixel in a tile. It is a figure which shows an example of the relationship between the contrast evaluation value and the position of a focus lens. It is a figure which shows an example of the circuit structure of an infinite impulse response filter. It is a figure which shows an example of the relationship between the contrast evaluation value and the position of a focus lens. It is a flowchart which shows an example of the procedure which executes the contrast AF. It is a figure which shows an example of the appearance of an unmanned aerial vehicle and a remote control device. It is a figure which shows an example of a hardware configuration.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. It will be apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The claims, description, drawings, and abstracts include matters subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein the block is (1) a stage of the process in which the operation is performed or (2) a device having a role of performing the operation. May represent a "part" of. Specific steps and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. It may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. It may include a memory element such as.

The computer readable medium may include any tangible device capable of storing instructions executed by the appropriate device. As a result, the computer-readable medium having the instructions stored therein will include the product, including instructions that can be executed to create means for performing the operation specified in the flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), Electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray® disc, memory stick, An integrated circuit card or the like may be included.

Computer-readable instructions may include either source code or object code written in any combination of one or more programming languages. Source code or object code includes traditional procedural programming languages. Traditional procedural programming languages are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcodes, firmware instructions, state setting data, or Smalltalk®, JAVA®, C ++. It may be an object-oriented programming language such as, and a "C" programming language or a similar programming language. Computer-readable instructions are used locally or on a local area network (LAN), wide area network (WAN), etc., to the processor or programmable circuit of a general purpose computer, special purpose computer, or other programmable data processing device. ) May be provided. The processor or programmable circuit may execute computer-readable instructions to create means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

FIG. 1 shows an example of a functional block of the image pickup apparatus 100 according to the present embodiment. The image pickup apparatus 100 includes an image pickup unit 102 and a lens unit 200. The image pickup unit 102 includes an image sensor 120, an image pickup control unit 110, a memory 170, a display unit 160, and an operation unit 162.

The image sensor 120 may be configured by CCD or CMOS. The image sensor 120 converts an optical image formed through a plurality of lenses 210 into an electric signal. The image sensor 120 outputs the image data of the optical image formed through the plurality of lenses 210 to the image pickup control unit 110. The image pickup control unit 110 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The image pickup control unit 110 may control the image pickup device 100 in response to an operation command from the operation unit 162.

The memory 170 may be a computer-readable recording medium and may include at least one of flash memories such as SRAM, DRAM, EEPROM, EEPROM, and USB memory. The memory 170 stores a program or the like necessary for the image pickup control unit 110 to control the image sensor 120 or the like. The memory 170 may be provided inside the housing of the image pickup apparatus 100. The memory 170 may be provided so as to be removable from the housing of the image pickup apparatus 100.

The display unit 160 may display the image output from the image sensor 120. The display unit 160 may display various setting information of the image pickup apparatus 100. The display unit 160 may be a liquid crystal display, a touch panel display, or the like. The display unit 160 may include a plurality of liquid crystal displays or touch panel displays.

The lens unit 200 includes a plurality of lenses 210, a lens moving mechanism 212, and a lens control unit 220. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least a part or all of the plurality of lenses 210 are arranged so as to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably provided with respect to the image pickup unit 102. The lens moving mechanism 212 moves at least a part or all of the plurality of lenses 210 along the optical axis. The lens control unit 220 drives the lens movement mechanism 212 in accordance with a lens control command from the image pickup unit 102 to move one or more lenses 210 along the optical axis direction. The lens control command is, for example, a zoom control command and a focus control command.

The image pickup control unit 110 includes an AE control unit 112 and an AF control unit 114. The AE control unit 112 executes automatic exposure control so that the image captured by the image pickup device 100 has an appropriate exposure. The AE control unit 112 determines the aperture value, the exposure time, the ISO sensitivity, and the like based on the brightness value of the captured image. The AE control unit 112 derives the luminance value of the captured image according to a predetermined AE algorithm.

FIG. 2 shows an example of a captured image. The captured image is composed of a pixel group of w pixels × h pixels. The AE control unit 112 divides the captured image into tile groups of m pixels × n pixels, and derives the luminance value for each tile. The AE control unit 112 performs a predetermined weighting on the luminance value of each pixel in the tile to derive the luminance value of the tile. FIG. 3 shows an example of the weighting assigned to each pixel in the tile. The AE control unit 112 may derive the brightness value of the tile by weighting the brightness value of each pixel in the tile and then deriving the average value of the brightness value of each weighted pixel. Further, the AE control unit 112 may derive the luminance value of the captured image by deriving the average value of the luminance values of each tile. The brightness value of the captured image may be a value indicating the brightness of the entire captured image. The brightness value of the captured image may be a value indicating the average brightness of the entire captured image. The brightness value of the captured image may be a value indicating the brightness of the image of a part of the captured image that is referred to when determining the appropriate exposure.

The AE control unit 112 may derive the luminance value of the image in the AE target region in advance in the captured image as the luminance value of the captured image. The AE control unit 112 may divide the image of the AE target area into tiles and perform predetermined weighting on each pixel value in the tile to derive the brightness value of the tile. Then, the AE control unit 112 may derive the brightness value of the captured image by deriving the average value of the brightness values of each tile of the image in the AE target region.

The AF control unit 112 detects the peak P0 of the contrast evaluation value as shown in FIG. 4 based on the plurality of contrast evaluation values at the plurality of positions of the focus lens, and the focus lens brings the desired subject into the in-focus state. Position F0 is determined. That is, the AF control unit 112 determines the position of the focus lens in which the desired subject is in the in-focus state by the contrast AF process.

The AF control unit 114 performs a filter process on the captured image to smooth it, and then derives a contrast evaluation value for the captured image after the filter process according to a predetermined AF algorithm. The AF control unit 114 filters the image in the predetermined AF region of the captured image, and then derives the contrast evaluation value for the filtered image according to the predetermined AF algorithm.

The AF control unit 114 may perform smoothing processing by applying an infinite impulse response (IIR) filter to the captured image. FIG. 5 shows an example of an IIR filter used in the AF control unit 114. The IIR filter may be configured by connecting two direct type II IIR filters. The number of stages of the IIR filter is not limited to two. The AF control unit 114 may derive a contrast evaluation value for the captured image filtered by the IIR filter according to a predetermined AF algorithm.

Here, if the brightness of the captured image changes while the AF control unit 114 is performing contrast AF, the position F0 of the focus lens in which the desired subject is in the in-focus state may not be appropriately determined. When the brightness of the captured image changes during the execution of contrast AF, for example, as shown in FIG. 6, in addition to the peak P0 of the contrast evaluation value in which the desired subject is in the in-focus state, the maximum point P1 of the contrast evaluation value or The maximum point P2 may appear. In such a case, the AF control unit 114 may not be able to appropriately determine the position F0 of the focus lens in which the desired subject is in the in-focus state.

The brightness of the image changes due to a change in the brightness of the environment imaged by the image pickup apparatus 100, a change in the appropriate exposure due to the automatic exposure control executed by the AE control unit 112, and the like.

In the present embodiment, even if the brightness of the captured image changes during the execution of contrast AF, the brightness value of each pixel of the captured image is corrected and then filtered so that the peak of the contrast evaluation value can be appropriately detected. To give. The AF control unit 114 corrects the brightness value of each pixel when inputting to the IIR filter according to the change in the brightness of the captured image. When the IIR filter shown in FIG. 5 is used, the AF control unit 114 changes the value of the coefficient A to be multiplied by X [n] indicating the brightness value of the pixel according to the change in the brightness of the captured image. The luminance value is an index indicating the brightness of the pixel, and may be a pixel value. The AF control unit 114 changes the coefficient A by, for example, adjusting the gain of the amplifier 130 shown in FIG. As a result, it is possible to suppress the appearance of the maximum point of the contrast evaluation value as shown in FIG. 6, and it is possible to appropriately detect the peak of the contrast evaluation value.

More specifically, the AF control unit 114 acquires the luminance value of the captured image from the AE control unit 112. The AF control unit 114 acquires the luminance value of the captured image derived by the AE control unit 112 according to the AE algorithm in order to execute the automatic exposure control.

The AF control unit 114 determines the coefficient according to a predetermined condition based on the brightness value of the captured image of the target from which the contrast evaluation value is derived. The AF control unit 114 determines the coefficient so that the captured image of the target becomes dark when the brightness value of the captured image of the target changes in the brightening direction. On the other hand, the AF control unit 114 determines the coefficient so that the captured image of the target becomes bright when the brightness value of the captured image of the target changes in the darkening direction.

When the luminance value of the captured image of the target is larger than the predetermined luminance value, the AF control unit 114 may determine the predetermined first coefficient A1 smaller than 1 as the coefficient A. When the luminance value of the captured image of the target is smaller than the predetermined luminance value, the AF control unit 114 may determine the predetermined second coefficient A2 larger than 1 as the coefficient A. A1 may be, for example, 0.8. A2 may be, for example, 1.2.

The AF control unit 114 determines a predetermined brightness value based on the brightness value derived by the AE control unit 112 according to the AE algorithm for the image captured by the image pickup device 100 when the contrast AF is started. good. The AF control unit 114 may determine the brightness value of the captured image derived by the AE control unit 112 to a predetermined brightness value when the contrast AF is started.

The AF control unit 114 corrects the brightness value of each pixel of the image in the in-focus target region of the captured image according to the coefficient A. The AF control unit 114 may correct the luminance value of each pixel of the image by multiplying the luminance value of each pixel of the image by the coefficient A.

The AF control unit 114 performs a filter process by applying an IIR filter to the corrected image. The AF control unit 114 derives a contrast evaluation value for the filtered image. The AF control unit 114 executes contrast AF based on the contrast evaluation value.

FIG. 7 is a flowchart showing an example of a procedure for executing contrast AF.

When the contrast AF is started, the AF control unit 114 acquires the brightness value of the first frame (captured image) derived by the AE control unit 112 as the reference brightness value L0 (S100). Next, the AF control unit 114 acquires the luminance value Ln of the next target frame derived by the AE control unit 112 while moving the focus lens (S102) (S104). The target frame is the target frame from which the contrast evaluation value is derived.

Next, the AF control unit 114 determines whether or not Ln / L0 is larger than 1 (S106). When Ln / L0 is larger than 1, the AF control unit 114 determines the coefficient A to 0.8 (S108). When Ln / L0 is smaller than 1, the AF control unit 114 determines the coefficient A to 1.2 (S110). When Ln / L0 = 1, the AF control unit 114 may determine the coefficient A to 1.0.

The AF control unit 114 corrects the luminance value of each image of the target frame according to the coefficient A (S112). The AF control unit 114 corrects the brightness value of each image of the target frame by multiplying the brightness value of each pixel of the target frame by the coefficient A.

The AF control unit 114 applies an IIR filter to the corrected target frame and applies a filter process to the target frame (S114). The AF control unit 114 derives the contrast evaluation value of the target frame after applying the IIR filter according to a predetermined AF algorithm (S116).

The AF control unit 114 determines whether or not a peak of the contrast evaluation value has been detected (S118). If the peak of the contrast evaluation value is not detected, the AF control unit 114 repeats the processing after S102 while further moving the focus lens. On the other hand, if the peak of the contrast evaluation value is detected, the AF control unit 114 moves the focus lens to the position corresponding to the peak of the contrast evaluation value, and ends the contrast AF (S120).

As described above, according to the present embodiment, the brightness value of each pixel of the image from which the contrast evaluation value is derived is corrected according to the change in the brightness of the captured image. As a result, even if the brightness of the captured image changes during the execution of contrast AF, the peak of the contrast evaluation value can be appropriately detected.

The image pickup apparatus 100 as described above may be mounted on a moving body. The image pickup apparatus 100 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. The UAV 10 may include a UAV main body 20, a gimbal 50, a plurality of image pickup devices 60, and an image pickup device 100. The gimbal 50 and the image pickup apparatus 100 are examples of an image pickup system. The UAV 10 is an example of a moving body propelled by a propulsion unit. The moving body is a concept including a UAV, a flying object such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.

The UAV main body 20 includes a plurality of rotary wings. The plurality of rotor blades are an example of a propulsion unit. The UAV main body 20 flies the UAV 10 by controlling the rotation of a plurality of rotary blades. The UAV body 20 flies the UAV 10 using, for example, four rotor blades. The number of rotor blades is not limited to four. Further, the UAV 10 may be a fixed-wing aircraft having no rotor blades.

The image pickup apparatus 100 is a camera for taking an image of a subject included in a desired imaging range. The gimbal 50 rotatably supports the image pickup device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 rotatably supports the image pickup device 100 on a pitch axis using an actuator. The gimbal 50 further rotatably supports the image pickup device 100 around each of the roll axis and the yaw axis by using an actuator. The gimbal 50 may change the posture of the image pickup device 100 by rotating the image pickup device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of image pickup devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10. Two image pickup devices 60 may be provided in front of the nose of the UAV 10. Yet two other imaging devices 60 may be provided on the bottom surface of the UAV 10. The two image pickup devices 60 on the front side may be paired and function as a so-called stereo camera. The two image pickup devices 60 on the bottom side may also be paired and function as a stereo camera. Three-dimensional spatial data around the UAV 10 may be generated based on the images captured by the plurality of image pickup devices 60. The number of image pickup devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one image pickup device 60. The UAV 10 may be provided with at least one image pickup device 60 on each of the nose, tail, side surface, bottom surface, and ceiling surface of the UAV 10. The angle of view that can be set by the image pickup device 60 may be wider than the angle of view that can be set by the image pickup device 100. The image pickup apparatus 60 may have a single focus lens or a fisheye lens.

The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate wirelessly with the UAV 10. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, reversing, and rotating. The instruction information includes, for example, instruction information for raising the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at an altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to elevate the UAV 10. The UAV10 rises while accepting the rise order. Even if the UAV10 accepts an ascending order, the ascending may be restricted if the altitude of the UAV10 has reached the upper limit altitude.

FIG. 9 shows an example of a computer 1200 in which a plurality of aspects of the present invention may be embodied in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more "parts" of the device. Alternatively, the program may cause the computer 1200 to perform the operation or the one or more "parts". The program may cause the computer 1200 to perform a process according to an embodiment of the present invention or a stage of the process. Such a program may be run by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other by a host controller 1210. The computer 1200 also includes a communication interface 1222, an input / output unit, which are connected to the host controller 1210 via an input / output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit.

The communication interface 1222 communicates with other electronic devices via the network. A hard disk drive may store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, USB memory or IC card or a network. The program is installed in RAM 1214, which is also an example of a computer-readable recording medium, or ROM 1230, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information according to the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing with respect to the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the RAM 1214 or a recording medium such as a USB memory, and transmits the read transmission data to the network, or The received data received from the network is written to the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 makes the RAM 1214 read all or necessary parts of a file or a database stored in an external recording medium such as a USB memory, and executes various types of processing on the data on the RAM 1214. good. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. Search for an entry that matches the condition from the plurality of entries, read the attribute value of the second attribute stored in the entry, and associate it with the first attribute that satisfies the predetermined condition. The attribute value of the second attribute obtained may be acquired.

The program or software module described above may be stored on a computer 1200 or in a computer readable storage medium near the computer 1200. Also, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer readable storage medium, thereby allowing the program to be transferred to the computer 1200 over the network. offer.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 UAV
20 UAV main unit 50 gimbal 60 image pickup device 100 image pickup device 102 image pickup unit 110 image pickup control unit 112 AE control unit 114 AF control unit 120 image sensor 130 amplifier 160 display unit 162 operation unit 170 memory 200 lens unit 210 lens 212 lens movement mechanism 220 lens Control unit 300 Remote control device 1200 Computer 1210 Host controller 1212 CPU
1214 RAM
1220 Input / Output Controller 1222 Communication Interface 1230 ROM

Claims (13)

It is a control device that controls the image pickup device.
The first luminance value derived according to a predetermined algorithm for the first captured image captured by the image pickup device is acquired, and the first luminance value is acquired.
Based on the first luminance value of the first captured image, the luminance value of each pixel of the first image in the first region of the first captured image is corrected.
A predetermined filter process is applied to the corrected first image, and the corrected image is subjected to a predetermined filter process.
A contrast evaluation value is derived for the filtered first image, and the contrast evaluation value is derived.
A control device including a circuit configured to perform contrast AF based on the contrast evaluation value. The circuit is
When the first luminance value is larger than a predetermined luminance value, the luminance value of each pixel of the first image is corrected so that the luminance value of each pixel of the first image becomes smaller.
When the first luminance value is smaller than the predetermined luminance value, the luminance value of each pixel of the first image is corrected so that the luminance value of each pixel of the first image becomes large. , The control device according to claim 1. The circuit is
It is configured to determine the predetermined luminance value based on the luminance value derived according to the predetermined algorithm for the image captured by the imaging apparatus when the contrast AF is started. The control device according to claim 2. The circuit is
Based on the first luminance value, the coefficient is determined according to a predetermined condition, and the coefficient is determined.
The control device according to claim 1, wherein the luminance value of each pixel of the first image is corrected according to the coefficient. The circuit is
When the first luminance value is larger than the predetermined luminance value, a predetermined first coefficient smaller than 1 is determined as the coefficient.
The control device according to claim 4, wherein when the first luminance value is smaller than the predetermined luminance value, a predetermined second coefficient larger than 1 is determined as the coefficient. The circuit is
It is configured to determine the predetermined luminance value based on the luminance value derived according to the predetermined algorithm for the image captured by the imaging apparatus when the contrast AF is started. The control device according to claim 5. The circuit is
The control device according to claim 5, wherein the luminance value of each pixel of the first image is multiplied by the coefficient to correct the luminance value of each pixel of the first image. The control device according to claim 1, wherein the circuit is configured to execute automatic exposure control based on a luminance value derived according to the predetermined algorithm for an image captured by the image pickup device. .. 8. The circuit is configured to derive the luminance value of the captured image by performing a weight assigned in advance to the luminance value of each pixel of the captured image according to the predetermined algorithm. The control device described in. The control device according to claim 1, wherein the circuit is configured to apply an infinite impulse response filter to the corrected first image as the predetermined filter. The control device according to any one of claims 1 to 10.
Focus lens and
An image pickup device including an image sensor that captures an image formed through the focus lens. It is a control method that controls the image pickup device.
A step of acquiring a first luminance value derived according to a predetermined algorithm for the first captured image captured by the image pickup device, and a step of acquiring the first luminance value.
A step of correcting the luminance value of each pixel of the first image in the first region of the captured image based on the first luminance value of the first captured image.
At the stage of applying a predetermined filter process to the corrected first image, and
A step of deriving a contrast evaluation value for the filtered first image, and a step of deriving the contrast evaluation value.
A control method including a step of executing contrast AF based on the contrast evaluation value. A program for operating a computer as a control device according to any one of claims 1 to 10.

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