JP5308386B2 - Imaging apparatus and control method thereof - Google Patents

Description

  The present invention relates to an imaging apparatus and a control method thereof.

  As moving object detection (extraction) processing using image data, a difference between successive frame images is extracted to generate an outline of an object (moving object) (Patent Document 1), and a face orientation angle based on a luminance distribution Has been proposed (Patent Document 2) and the like.

  When a moving object is detected using a frame image, if the moving object has a low contrast, even if the moving object has a motion, a difference is not obtained. The movement may not be detected.

JP 2008-203927 A JP 2009-25894 A

  An object of the present invention is to enable accurate detection of a moving object region even with a low contrast moving object.

  An imaging apparatus according to the present invention continuously captures a specific imaging target range, sequentially outputs frame image data representing an image within the imaging target range, and a plurality of frame image data output from the imaging unit. The first difference image data and the second difference are calculated by calculating a difference between the two previously output frame image data and calculating a difference between the two frame image data output after that. Difference image data generating means for generating image data, and a difference image portion included in the first difference image represented by the first difference image data and the second difference image represented by the second difference image data In addition, a region included in the first difference image portion included in the first difference image and the second difference image portion included in the second difference image is detected. A inclusion area detecting means, and detects the inclusion area as the moving object region.

  The present invention also provides a method invention suitable for controlling the above-described imaging apparatus. In this method, the imaging unit continuously captures a predetermined imaging target range, sequentially outputs frame image data representing an image within the imaging target range, and the difference image data generation unit receives the image from the imaging unit. By calculating a difference between two previously output frame image data out of a plurality of output frame image data and calculating a difference between two frame image data output after that, 1st difference image data and 2nd difference image data are produced | generated, and the inclusion area detection means represents the 1st difference image represented by the said 1st difference image data, and the 2nd difference image represented by 2nd difference image data Are included in the first difference image portion included in the first difference image and the second difference image portion included in the second difference image. Controlling the imaging device to detect the region as the moving object region.

  According to the present invention, data representing two difference images of the first difference image and the second difference image is generated. The two frame image data used for the generation of the first difference image data are the two frame image data output earlier (at an earlier timing) among the frame image data output sequentially and sequentially. The two frame image data used for generating the second difference image data is frame image data output later (at a later timing in time) than that, so that a moving subject (moving object) is imaged. Then, the first difference image and the second difference image include images representing moving bodies before movement (including the middle of movement) and after movement (including the middle of movement), that is, the first difference image portion and the second difference image. Each difference image portion is included.

  A region included in the first difference image portion and the second difference image portion is detected as a moving object region. The inclusion region is not only the first difference image portion and the second difference image portion itself, but also an area surrounded by at least one of the first difference image portion and the second difference image portion, and the first difference image portion and the second difference image portion. An area sandwiched between the difference image portions is included.

  According to the present invention, regions included in the first difference image portion and the second difference image portion, that is, the first difference image portion itself, the second difference image portion itself, the first difference image portion, and the second difference image portion. A region surrounded by at least one and a region sandwiched between the first difference image portion and the second large image portion are detected as moving object regions. For this reason, even if there is a region where a difference (difference) cannot be obtained simply by taking a difference because the contrast of the moving object is low, the region can be included in the moving object region. The moving object region can be accurately detected.

  In one embodiment, the difference image data generation means generates the first difference image data and the second difference image data using two consecutive frame image data. A moving object region can be accurately detected even with a moving object that moves quickly.

  Preferably, the imaging means images the imaging target range at a constant period. The moving object region can be detected stably.

  In one embodiment, the inclusion area detection means includes a horizontal direction and a vertical direction starting from each of a plurality of pixels constituting a superimposed difference image obtained by superimposing the first difference image and the second difference image. By searching each direction of the plurality of directions, it is determined whether or not each of the plurality of pixels is included in the first difference image portion and the second difference image portion. For the pixels included in the region included by the first difference image portion and the second difference image portion, the first difference image portion and the second difference image portion are detected in a search in a plurality of directions including the horizontal direction and the vertical direction. . Based on this, even if it is not a pixel constituting the first difference image itself and the second difference image itself, the region surrounded by either the first difference image portion or the second difference image portion, and the first difference image portion Pixels sandwiched between the difference image portion and the second difference image portion can also be detected as pixels constituting the inclusion region.

  Preferably, the inclusion area detecting means determines the center of gravity position of the first difference image portion and the center of gravity of the second difference image in the superimposed difference image obtained by superimposing the first difference image and the second difference image, respectively. Two intersection points where the straight line passing through the center of gravity of the first difference image portion and the boundary of the first difference image portion intersect, the straight line passing through the center of gravity of the second difference image portion, and the second difference image are calculated. The first difference image portion is included in the second difference image portion or the second difference image portion is included in the first difference image portion according to the positional relationship with the two intersections where the boundary of the portion intersects. Judge that it has been. Even when the moving object is approaching or moving away from the imaging device, there is a region where the difference (difference) cannot be obtained simply by taking the difference because the contrast of the moving object is low. Even in this case, by determining that the first difference image portion is included in the second difference image portion or that the second difference image portion is included in the first difference image portion, the region is determined. It can be detected as a moving object region.

  Preferably, the barycentric position of the first region in the first difference image portion constituted by only one frame image data of the two frame image data used for the generation of the first difference image, and the first difference image The centroid position of the second region in the first difference image portion constituted only by the other frame image data of the two frame image data used for generating the difference image, and used for generating the second difference image. The position of the center of gravity of the third region in the second difference image portion constituted by only one of the two frame image data obtained and the two frame images used for generating the second difference image The centroid position of the fourth area in the second difference image portion constituted only by the other frame image data of the data is calculated, and the centroid position of the first area and the second Whether the motion of the moving object is linear is determined based on the direction of the first vector connecting the center of gravity of the region and the direction of the second vector connecting the center of gravity of the third region and the center of gravity of the fourth region. A moving body motion determination means is further provided. If the motion of the moving object is not linear, the accuracy of detection of the moving object region using the two difference image data obtained from the four frame image data may be reduced. When it is determined that the motion of the moving object is not linear, for example, the moving object region is detected by taking an OR (logical sum) region of a large number of frame image data more than four frame image data. The detection accuracy of the area can be increased.

It is a block diagram which shows the electric constitution of a digital still camera. It is a flowchart which shows the procedure of the moving body area | region detection process of 1st Example. The flow of a moving body area | region detection process is shown with an image. A composite image of two difference images is shown. It is a flowchart which shows the procedure of the moving body area | region detection process of 2nd Example. The procedure of the moving body area | region detection process of 2nd Example is shown with an image. A composite image of two difference images is shown. It is a flowchart which shows the procedure of the moving body area | region detection process of 3rd Example. (A), (B), and (C) show images of a part of the procedure of the moving object region detection process of the third embodiment.

  FIG. 1 shows an embodiment of the present invention and is a block diagram showing an electrical configuration of a digital still camera (imaging device).

  The overall operation of the digital still camera is controlled by the CPU 31.

  The digital still camera also includes an operation system control device that performs control in accordance with an operation from a user. The digital still camera has an operation mode switch 21 for setting an operation mode such as an imaging mode and a playback mode, a menu / OK button 22, an up / down button 23 for setting a zoom amount, and a left / right button 24 for menu selection. , BACK button 25, display switching button 26 for switching the display of display device 55, release button 27, and power switch 28. Operation signals from these switches and the like are input to the operation system control device 30.

  The digital still camera can perform strobe imaging, and includes a strobe (flashlight) device 12 and a strobe control device 13 for strobe imaging.

  The digital still camera has a focus lens 1 whose lens position is controlled by a focus lens driving device 11, a zoom lens 2 whose lens position is controlled by a zoom lens driving device 10, and an aperture controlled by a diaphragm driving device 9. A diaphragm 3 that is controlled to open and close by a shutter driving device 8 is also included. The shutter driving device 8 operates based on the timing pulse output from the timing generator 7.

  When the imaging mode is set by the operation mode switch 21, the light beam representing the subject image is incident on the light receiving surface of the CCD 5 through the focus lens 1, the zoom lens 2, the diaphragm 3 and the shutter 4. A video signal representing a subject image is output from the CCD 5 controlled by the CCD controller 6 at a constant period. The CCD controller 6 operates based on the timing pulse output from the timing generator 7.

  The video signal output from the CCD 5 is input to the analog signal processing device 14 that operates based on the timing pulse output from the timing generator 7. The analog signal processing device 14 performs predetermined analog signal processing such as gamma correction and analog / digital conversion. The image data output from the analog signal processing device 14 is input to the display control device 54 via the image input controller 15. By controlling the display device (monitor) 55 by the display control device 54, a subject image obtained by imaging is displayed on the display screen of the display device 55.

  The image data output from the image input controller 15 is also input to an AF (automatic focus) processing device 42 and an AE (automatic exposure) processing device 44. In the AF processing device 42, the lens position of the focus lens 1 is calculated based on the contrast of the input image data. The focus lens 1 is controlled by the focus lens driving device 11 so that the calculated lens position is obtained. In the AF processing device 42, the distance to the subject is also calculated based on the calculated lens position (ranging means). However, a distance measuring device that measures the distance to the subject may be provided. In the AE processing unit 44, the subject luminance is calculated based on the input image data (luminance measuring means). Based on the calculated luminance, the aperture value of the aperture 3 and the shutter speed of the shutter 4 are calculated. The diaphragm 3 is controlled by the diaphragm driving device 9 so as to obtain the calculated diaphragm value, and the shutter 4 is controlled by the shutter driving device 8 so as to obtain the calculated shutter speed.

  The image data output from the image input controller 15 is also input to the specific subject detection device 56. In the specific subject detection device 56, it is detected whether the subject image represented by the input image data includes, for example, a face image. Detection of a specific subject such as a face image is performed, for example, by storing a large number of samples of an image representing the specific subject (for example, a face image) and matching processing between the stored specific subject image and the subject image. . The digital still camera also includes a frame display device 49 that displays a frame on the detected specific subject image.

  The digital still camera also includes a specific subject registration device 46 for registering image data representing a subject image of a specific person or the like. When the subject image registered in the specific subject registration device 46 is authenticated by the specific subject authentication device 47, it is authenticated that the specific subject has been captured. A specific subject tracking device 48 for tracking and capturing a specific subject is also included.

  Further, the digital still camera includes an imaging mode setting device 57. In accordance with the imaging mode set by the imaging mode setting device 57, the digital still camera is controlled in the imaging control device 41.

  If the release button 27 is pressed when the imaging mode is set, the subject is imaged and image data representing the subject image is output from the analog signal processing device 14 as described above. The image data is subjected to predetermined image processing in the image processing device 45 via the image input controller 15. The image data output from the image processing device 45 is input to an AWB (automatic white balance) processing device 43, and white balance adjustment is performed. The white balance adjusted image data is given to the frame memory 51 and temporarily stored. Image data is read from the frame memory 51 and input to the compression / decompression processor 50. The compression / decompression processing device 50 compresses the image data. The compressed image data is recorded on the external recording medium 53 such as a memory card by the media control device 52.

  The digital still camera according to this embodiment also has a reproduction function. In the reproduction function, the compressed image data recorded on the external recording medium 53 is decompressed by the compression / expansion processing device 50, and is given to the display control device 54 to display an image.

  FIG. 2 is a flowchart showing the processing procedure of the digital still camera for the moving object region detection processing of the first embodiment. FIG. 3 explains the moving object region detection processing shown in FIG. 2 with a specific image.

  When the release button 27 is pressed, the moving object region detection process starts (NO in step 61, YES in step 61).

  When the release button 27 is pressed, image data representing an image of N frames (frames), for example, image data for 8 frames is continuously obtained at the same time interval (step 62). The obtained image data of a plurality of frames is temporarily stored in the frame memory 51.

  The following processing is performed in the image processing device 45.

  First, among the N frames of image data stored in the frame memory 51, the first two frames of image data (frame 1 and frame 2) and the last two frames of image data (frame N-1 and frame N). ) Are extracted (calculated), and two inter-frame difference image data is generated (steps 63 and 64).

Referring to FIG. 3, for example, when eight frame images (frame 1 to frame 8) are obtained by imaging a subject including moving object M moving rightward, the difference between frame 1 and frame 2 is obtained. An inter-frame difference image _SF is obtained by the extraction, and an inter-frame difference image _SL is obtained by extracting the difference between the frame 7 and the frame 8.

The inter-frame difference image S _F obtained from frames 1 and 2 includes an image region representing a moving object M. Here, when the moving body M is not likely overall contrast difference (low contrast), the inter-frame difference image S _F obtained from frames 1 and 2, including the following four image portions.

First difference image portion S _F1 : An image portion representing the moving object M present only in the frame 1.

Second difference image portion S _F2 : An image portion representing the moving object M existing only in the frame 2.

Difference non-detection image portion S _F3 : An image portion in which the moving object M is actually moving, but an image portion in which the difference cannot be obtained because the moving object M has no overall contrast difference.

Still image portion S _F4 : This is a region where neither the frame 1 nor the frame 2 has an image portion representing the moving object M.

If the difference between the frame 1 and the frame 2 is simply calculated, the difference does not appear in the difference non-detected image portion _SF3 , so that there is a possibility that accurate extraction of the motion region of the moving object M may fail.

As for the inter-frame difference image S _L obtained from the frames 7 and 8, the first difference image portion S _L1 , the second difference image portion S _L2 , the difference non-detection image portion S _L3 and the still image are the same as described above. Includes portion _SL4 . Even if the difference between the frame 7 and the frame 8 is simply calculated, the difference does not appear in the difference non-detected image portion S _L3 , so that there is a possibility that the accurate extraction of the motion region of the moving object M may fail.

Therefore, the inter-frame difference image S _F obtained from the frame 1 and frame 2, are used inter-frame difference image S _L obtained from the frame 7 and the frame 8, a region (hereinafter encompassed by both, that inclusion area ) Is performed (step 65).

With reference to FIG. 4, the process (step 65) for obtaining the inclusion area will be described. Figure 4 is a superimposed image obtained by superimposing the difference image S _F and S _L between two frames as described above. Superimposed image is an image obtained by aligning the differential image S _F and S _L between two frames in the frame memory 51. Of course, it may be used as an image superimposing two inter-frame difference image S _F and the image obtained by combining the S _L.

In the inclusion area calculation process, the image part surrounded by the difference image parts S _F1 , S _F2 , S _L1 , and S _L2 included in the two inter-frame difference images S _F and S _L is treated as the inclusion area. Referring to FIG. 4, for example, starting from pixel A, the horizontal direction (left-right direction), the vertical direction (up-down direction), the diagonal 45 degree direction (upper right direction and lower left direction), and the oblique 135 degree direction (upper left direction and A scan (search) is performed toward the lower right). With respect to the pixel A, the pixels constituting the moving body regions S _F1 , S _F2 , S _L1 , and S _L2 are detected by scanning in any of the horizontal direction (left and right direction), vertical direction (up and down direction), and two oblique directions. (can be found). Since the pixel A is surrounded by the difference image portions S _F1 , S _F2 , S _L1 , and S _L2 , it is determined as a pixel constituting the inclusion region.

When scanning (search) is performed in the horizontal direction (left-right direction), vertical direction (up-down direction), and two oblique directions starting from the pixel B shown in FIG. 4, the horizontal direction (left-right direction), vertical direction ( For both scans in the vertical direction and the two diagonal directions, pixels constituting any of the moving object regions S _F1 , S _F2 , S _L1 , and S _L2 are detected (found). Since the pixel B is also surrounded by the difference image portions S _F1 , S _F2 , S _L1 , and S _L2 , it is determined as a pixel constituting the inclusion region.

On the other hand, for the pixel C, the pixels constituting the moving object regions S _F1 , S _F2 , S _L1 , S _L2 are not detected at all in the horizontal (left-right) scan. In the scans in the downward direction, the lower right direction, the upper right direction, and the lower left direction, the pixels constituting the moving object regions S _F1 , S _F2 , S _L1 , and S _L2 are not detected at all. The pixel C is determined not to be surrounded by the difference image portions S _F1 , S _F2 , S _L1 , and S _L2 , that is, not included in the inclusion region.

When the moving body M is moving linearly, the pixels (for example, the pixel A and the pixel B) constituting the inclusion region are any one of the horizontal direction (left and right direction), the vertical direction (up and down direction), and two oblique directions. In such a scan, pixels constituting the moving object regions S _F1 , S _F2 , S _L1 , S _L2 are detected. On the other hand, pixels that do not constitute an inclusion area constitute moving object areas S _F1 , S _F2 , S _L1 , and S _L2 in one of scans in the horizontal direction (left and right direction), vertical direction (up and down direction), and two diagonal directions. Even if there is a direction to be detected, pixels constituting the moving object regions S _F1 , S _F2 , S _L1 , and S _L2 are not detected in the scan in the opposite direction. For example, as described above, in the pixel C, the pixels constituting the moving object areas S _F1 , S _F2 , S _L1 , and S _L2 are not detected in the horizontal (left and right) scan, and the moving object area S is detected in the upward scan. _Although the pixel of _L2 is detected, the pixels constituting the moving object regions S _F1 , S _F2 , S _L1 , and S _L2 are not detected in the scan in the opposite direction (downward). By performing the above scan for each of the pixels constituting the superimposed image, it is possible to determine whether each pixel is a pixel constituting the inclusion region.

Pixel A is shown in FIG. 4, in both the differential image S _F and S _L between frames, is a region that is actually moving body M is the difference to the moving body M is no overall contrast difference It is a pixel constituting an area that cannot be obtained. This region (indicated by H in FIG. 3) is also treated as a pixel constituting the inclusion region. The region H in which the pixel A is located is a region where the edge of the moving object M does not pass through at all, and is not extracted as a difference image in general difference processing, and therefore, it is determined that there is no moving object (still region). However, by obtaining the inclusion region as described above, the region H in which the edge of the moving object M does not pass at all can be handled as the moving object region, and the moving object region can be accurately detected.

Data specifying the position (pixel position) of the inclusion area is output as data representing the moving object area (step 66). Thus, the difference image section _{S F1, S F2, S L1} , S L2 not only pixels constituting the difference image portion _{S F1, S F2, S L1} , S L2 pixels included in (the pixel of FIG. 4 A , Pixels B) are also included in the data representing the moving object region.

  On the frame image obtained by imaging, for example, by displaying a frame in an area specified by the data representing the moving object area, the position of the moving object area can be shown in an easily understandable manner. If only the image data in the area surrounded by the frame is recorded (saved), the storage device can be used effectively. The storage device can be used for a long time in a security system or the like.

  FIG. 5 is a flowchart showing the processing procedure of the digital still camera for the moving object region detection processing of the second embodiment, and shows processing when the moving object M is moving in the direction approaching the digital still camera. FIG. 6 explains the moving object region detection processing shown in FIG. 5 with a specific image. In the flowchart shown in FIG. 5, the same processes as those in the flowchart of FIG.

Even when the moving object M is approaching the direction of the digital still camera, the first two frames of image data (frames 1 and 2) and the last two frames of image data (frames N-1 and N) ), The difference (difference in luminance data for each pixel) is calculated, and two difference image data are generated (steps 63 and 64). FIG. 6 shows an example of an image when five frame images (frame 1 to frame 5) are obtained by capturing an object including a moving object M moving in a direction approaching the digital still camera. It is shown. Frame difference image S _F from the frame 1 and frame 2 can be obtained, and the inter-frame difference image S _L is obtained from the frame 4 and the frame 5.

And inter-frame difference image S _F obtained from the frame 1 and the frame 2, the frame 4 and the inter-frame obtained from the frame 5 and the differential image S _L is used, the difference image portion in the interframe difference images one frame, while A process for obtaining a region included (included) in the difference image portion in the inter-frame difference image is performed (step 67 in FIG. 5).

With reference to FIG. 7, the inclusion area calculation process (step 67) of the second embodiment will be described. It is two inter-frame difference image S _F and superimposed image obtained by superimposing the S _L shown in FIG. Frame difference image S difference image portion in the _F S intersection from the center of gravity g ₁ boundary lines and the difference image section S _F1 which extended in the horizontal direction of _F1 L _1, the R ₁ coordinate is determined, and the inter-frame difference image S line and the difference image section _S intersection _L 2 boundary of _L1 which extended from the center of gravity _{g 2} in the horizontal direction of the difference image portion _{S L1} in _L, the coordinates of _{R 2} is determined. L ₁ coordinates and R ₁ coordinates, L ₂ coordinate and as long as it represents the coordinates of the inner region than R ₂ coordinate, the moving body M is the difference image portion in the difference image S _F between and frame have been moved toward It is determined that S _F1 is included (included) in the difference image portion S _L1 in the frame difference image S _L. The difference image portion S region is surrounded by _F1 H (see FIG. 6), a region where an edge of the moving body M is not at all passed through, a general difference process is not extracted as a differential image, thus there are elements Although it is determined not to be performed (still image portion), this region H can also be determined as an inclusion region. L ₂ coordinate and R ₂ coordinates, as long as it than L ₁ coordinates and R ₁ coordinates representing the coordinates of the inner region, the moving body M is moved away, the difference image portion in the difference image S _L between frames S _L1 is determined to be included in the difference image section _{S F1} of frame difference image _{S F.}

Two moving object region _{S F1,} rather than the straight line extended from the center of gravity _g 1, _{g 2} of _{S L1} in the horizontal direction, with a straight line extending in the vertical direction, the difference image section _{S F1,} the intersection coordinates of the boundary of _{S L1} You may ask for. If it is known in advance that the moving object M moves in a direction toward or away from the digital still camera, the areas of the two difference image portions S _F1 and S _L1 are simply compared and included. (Inclusive) relationship may be determined.

  FIG. 8 is a flowchart showing the processing procedure of the digital still camera for the moving object region detection processing of the third embodiment performed in the photographing mode. FIGS. 9A to 9C illustrate step 69 (determination as to whether or not the moving body is a linear motion) in the moving body region detection process shown in FIG. 8 with a specific image. In the flowchart shown in FIG. 8, the same processes as those in the flowchart of FIG.

  If the moving object M moves linearly, the moving object region can be accurately detected by the moving object region detection process of the first embodiment shown in FIG. However, as shown in FIG. 9A (in FIG. 9A, the frame images 1 to 6 are overlapped), the moving object M does not move linearly and moves once in a certain direction. If the movement returns to the original location again, the detection of the inclusion area may be inaccurate. In the moving object region detection process shown in FIG. 8, it is determined whether or not the moving object has a linear motion, and if it is determined that the moving object has a linear motion, the moving object region detection process of the first embodiment (FIG. 2). Detects the moving object region using the first two frames and the last two frames, and if it is determined that the movement is not linear, takes the OR (logical sum) region of all the frame images. Is detected.

  The determination of whether or not the moving body is moving linearly (step 69) will be described with reference to FIGS.

The resulting difference image S _F between the frames using the first two frames, further obtain a subtraction image S _L between frames using the last two frames are the same as in the first embodiment described above (step 63, 64) . 9A to 9C, six frames 1 to 6 are stored in the frame memory 51, an inter-frame difference image _SF is obtained using frames 1 and 2, and frames 5 and 6 are used to form a frame. A difference image _SL is obtained.

As described above, the inter-frame difference image _SF includes the first difference image portion SF1 in which the image portion representing the moving object M exists only in the frame ₁ and the image portion representing the moving object M only in the frame 2. A second difference image portion _SF2 is included. The centroids P ₁ and P _{2 of} the first difference image portion S _F1 and the second difference image portion S _F2 are calculated, and a vector 81 from the centroid P ₁ toward the centroid P ₂ is grasped (FIG. 9 ( B)). Direction of the vector 81 is the direction toward the center of gravity P ₂ in the frame 2 obtained being imaged after from the center of gravity P1 of the frame 1 obtained being imaged first.

Similarly, for the inter-frame difference image S _L obtained using the frame 5 and the frame 6, the centroids Q ₅ and Q _{6 of} the first difference image portion S _L1 and the second difference image portion S _L2 are respectively calculated. Then, a vector 82 from Q ₅ to Q ₆ is grasped (FIG. 9C). Vector direction is the direction toward the center of gravity Q ₆ from the center of gravity Q _5, after the definitive frame 6 obtained by imaging the frame 5 obtained by imaging first.

  When the angle θ formed by the vector 81 obtained from the frames 1 and 2 and the vector 82 obtained from the frames 5 and 6 exceeds the predetermined threshold θth, the moving object M does not move linearly. (NO in step 69). In this case, the moving object region is detected by performing an OR (logical sum) operation on all the frames 1 to 6 (step 70). If there is an area (inclusion area) surrounded by the difference image obtained by the OR operation, the inclusion area is also set as a moving object area, as in the first embodiment (FIG. 2).

  When the angle θ formed by the vector 81 obtained from the frames 1 and 2 and the vector 82 obtained from the frames 5 and 6 is equal to or smaller than a predetermined threshold θth, the motion of the moving object M is treated as a linear motion. (YES in step 69). In this case, the processing is the same as in the first embodiment.

5 CCD
27 Release button
45 Image processing device
51 frame memory

Claims (8)

Imaging means for continuously capturing a specific imaging target range and sequentially outputting frame image data representing an image in the imaging target range;
Of the plurality of frame image data output from the imaging means, the difference between the two previously output frame image data is calculated, and the difference between the two frame image data output after that is calculated. Thus, the difference image data generation means for generating the first difference image data and the second difference image data, and the first difference image and the second difference image data represented by the first difference image data. Inclusion region for detecting a region included in the first difference image portion included in the first difference image and a region included in the second difference image portion included in the second difference image when the difference image portion is included in the second difference image. Detecting means,
An imaging apparatus, wherein the inclusion area is detected as a moving object area. The difference image data generation means generates the first difference image data and the second difference image data using two consecutive frame image data,
The imaging device according to claim 1. The imaging means images the imaging target range at a constant period;
The imaging device according to claim 1. The difference image data generation means calculates a difference between two frame image data output first among a plurality of frame image data output from the imaging means after the release button is pressed. Creating first difference image data and calculating second difference image data by calculating a difference between the two last output frame image data;
The imaging device according to claim 1. The inclusion area detecting means starts from each of a plurality of pixels constituting a superimposed image obtained by superimposing the first difference image and the second difference image, and includes each of a plurality of directions including a horizontal direction and a vertical direction. By searching the direction, it is determined whether each of the plurality of pixels is included in the first difference image portion and the second difference image portion.
The imaging device according to claim 1. The inclusion area detecting means calculates a center-of-gravity position of the first difference image part and a center-of-gravity position of the second difference image part in the superimposed difference image obtained by superimposing the first difference image and the second difference image, respectively. , Two intersection points where a straight line passing through the center of gravity of the first difference image portion and the boundary of the first difference image portion intersect, a straight line passing through the center of gravity of the second difference image portion, and the second difference image portion. The first difference image portion is included in the second difference image portion or the second difference image portion is included in the first difference image portion according to the positional relationship with the two intersections where the boundary intersects. To determine,
The imaging device according to claim 1. The barycentric position of the first region in the first difference image portion constituted by only one of the two frame image data used for generating the first difference image, and the first difference image The centroid position of the second region in the first difference image portion constituted only by the other frame image data of the two frame image data used for generation, and 2 used for generation of the second difference image. The center of gravity position of the third region in the second difference image portion constituted by only one frame image data of the two frame image data, and the two frame image data used for generating the second difference image Centroid position of the fourth area in the second difference image portion constituted only by the other frame image data of the first area, respectively, and the centroid position of the first area and the centroid position of the second area A moving body that determines whether the movement of the moving body is linear according to the direction of the first vector that connects and the angle formed by the direction of the second vector that connects the center of gravity of the third region and the center of gravity of the fourth region Further comprising a motion determination means,
The imaging device according to claim 6. The imaging means continuously captures a specific imaging target range, sequentially outputs frame image data representing images within the imaging target range,
The difference image data generation means calculates a difference between two frame image data output earlier from among the plurality of frame image data output from the imaging means, and two frames output after that By calculating the difference between the image data, the first difference image data and the second difference image data are generated,
When the inclusion area detection means includes a difference image portion in the first difference image represented by the first difference image data and the second difference image represented by the second difference image data, the first difference A region included in the first difference image portion included in the image and the second difference image portion included in the second difference image is detected as a moving object region;
Control method of imaging apparatus.

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