JP6260803B2 - Imaging system, moving body, imaging method, and program - Google Patents

Description

  The present invention relates to an imaging system, a moving body, an imaging method, and a program.

Patent Document 1 discloses a subject tracking device that includes a camera mounted on a moving body and a stabilization device that holds the camera. The stabilization device controls the orientation of the camera while the camera continuously captures the subject.
Japanese Patent Application Laid-Open No. 2008-244893

  It is desired to more reliably include a desired subject in an imaging range of an imaging device mounted on a moving body.

  In one aspect, the imaging system controls the movement of the moving body on which the second imaging unit is mounted based on the first imaging unit, the second imaging unit, and the first image captured by the first imaging unit. Based on the image captured by the first control unit, the image captured by the first imaging unit, control is performed so that the subject specified by the subject and the subject specified by the specification unit are included in the imaging range of the second imaging unit. A second control unit.

  The first imaging unit may include a first lens device. The second imaging unit may include a second lens device that is more telephoto than the first lens device.

  The second lens device may have a narrower angle of view than the first lens device.

  The second lens device may have a longer focal length than the first lens device.

  The second lens device may be capable of changing the angle of view. The specifying unit may specify the subject based on the image captured by the first imaging unit when the angle of view of the second lens device is less than a predetermined value.

  The imaging range of the first imaging unit may be wider than the imaging range of the second imaging unit.

  The imaging system may include an acquisition unit that acquires stereoscopic information of the subject based on the first image. The first control unit may control the movement of the moving body based on the three-dimensional information.

  The imaging system may include a plurality of first imaging units. The identifying unit may identify the subject based on an image captured by at least one of the plurality of first imaging units.

  The imaging system may include a first holding unit that holds a plurality of first imaging units. The imaging system may include a second holding unit that holds the second imaging unit and can change the imaging direction of the second imaging unit. The imaging system may include a selection unit that selects a first imaging unit having an imaging direction closer to the imaging direction of the second imaging unit among the plurality of first imaging units. The specifying unit may specify a target subject based on an image captured by the first imaging unit selected by the selection unit.

  The specifying unit may specify a target subject based further on the image captured by the second imaging unit.

  The specifying unit may specify one of the subject specified based on the first image and the subject specified based on the second image as a subject according to a predetermined criterion.

  The imaging system may include an acquisition unit that acquires the distance to the subject specified by the specifying unit based on the first image. The imaging system may include an adjustment unit that adjusts the focal length of the second imaging unit based on the distance to the subject acquired by the acquisition unit.

  The control unit may control the angle of view of the second imaging unit so that the subject specified by the specifying unit is included in the imaging range of the second imaging unit.

  The control unit may control the subject specified by the specifying unit to be included in the imaging range of the second imaging unit by controlling the orientation of the second imaging unit.

  In one aspect, the moving body moves with an imaging system.

  The control unit may control the subject specified by the specifying unit to be included in the imaging range of the second imaging unit by controlling the position of the moving body.

  In one aspect, the imaging method includes a step of controlling the movement of the moving body on which the second imaging unit is mounted based on the first image captured by the first imaging unit, and the first image, The step of specifying the subject and the step of controlling the specified subject to be included in the imaging range of the second imaging unit are provided.

  The first imaging unit may include a first lens device. The second imaging unit may include a second lens device that is more telephoto than the first lens device. The step of specifying the subject may include the step of specifying the subject based on the moving image captured by the first imaging unit when the angle of view of the second lens device is greater than or equal to a predetermined value. The step of specifying the subject may include the step of specifying the subject based on the moving image captured by the second imaging unit when the angle of view of the second lens device is less than a predetermined value.

  The imaging method may include a step of acquiring a distance to the identified subject based on the first image. The imaging method may include a step of adjusting the focal length of the second imaging unit based on the acquired distance to the subject.

  In one aspect, a program causes a computer to execute an imaging method.

  The above summary of the present invention does not enumerate all of the features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a figure which shows an example of the external appearance of UAV. It is a figure which shows an example of the functional block of UAV. It is a figure which shows an example of the functional block of a UAV control part. It is a figure which shows an example of the positional relationship of the several imaging range of a several imaging device. It is a figure which shows an example of the positional relationship of the several imaging range of a several imaging device. It is a figure which shows an example of the positional relationship of the several imaging range of a several imaging device. It is a figure which shows an example of the procedure of the tracking of the to-be-photographed object by UAV. It is a figure which shows the other example of the procedure of the tracking of the to-be-photographed object by UAV.

  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. Not all combinations of features described in the embodiments are essential for the solution of the invention.

  The claims, the description, the drawings, and the abstract include matters subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are reserved.

  FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 100. The UAV 100 includes a UAV main body 102, a gimbal 200, an imaging device 220, and a plurality of imaging devices 230. The UAV 100 is an example of a moving body that moves with an imaging system. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like.

  The UAV main body 102 includes a plurality of rotor blades. The UAV main body 102 flies the UAV 100 by controlling the rotation of a plurality of rotor blades. For example, the UAV main body 102 causes the UAV 100 to fly using four rotary wings. The number of rotor blades is not limited to four. Further, the UAV 100 may be a fixed wing aircraft that does not have a rotating wing.

  The imaging device 220 is an imaging camera that images a subject included in a desired imaging range. The plurality of imaging devices 230 are sensing cameras that image the surroundings of the UAV 100 in order to control the flight of the UAV 100. Two imaging devices 230 may be provided on the front surface that is the nose of the UAV 100. Two other imaging devices 230 may be provided on the bottom surface of the UAV 100. The two imaging devices 230 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 230 on the bottom side may also be paired and function as a stereo camera. Three-dimensional spatial data around the UAV 100 may be generated based on images captured by the plurality of imaging devices 230. The number of imaging devices 230 included in the UAV 100 is not limited to four. The UAV 100 only needs to include at least one imaging device 230. The UAV 100 may include at least one imaging device 230 on each of the nose, the tail, the side surface, the bottom surface, and the ceiling surface of the UAV 100. The angle of view that can be set by the imaging device 230 may be wider than the angle of view that can be set by the imaging device 220. The imaging device 230 may have a single focus lens or a fisheye lens. The UAV main body 102 is an example of a first holding unit.

  FIG. 2 shows an example of functional blocks of the UAV 100. The UAV 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a gimbal 200, a rotary blade mechanism 210, an imaging device 220, and an imaging device 230. The communication interface 150 communicates with an external transmitter. The communication interface 150 receives various commands for the UAV control unit 110 from a remote transmitter. The memory 160 stores a program and the like necessary for the UAV control unit 110 to control the gimbal 200, the rotary blade mechanism 210, the imaging device 220, and the imaging device 230. The memory 160 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 160 may be provided in the housing of the UAV 100. It may be provided so as to be removable from the housing of the UAV 100.

  The gimbal 200 supports the imaging device 220 rotatably about at least one axis. The gimbal 200 may support the imaging device 220 rotatably about the yaw axis, pitch axis, and roll axis. The gimbal 200 may change the imaging direction of the imaging device 220 by rotating the imaging device 220 about at least one of the yaw axis, the pitch axis, and the roll axis. The rotary blade mechanism 210 includes a plurality of rotary blades and a plurality of drive motors that rotate the plurality of rotary blades. The gimbal 200 is an example of a second holding unit.

  The imaging device 220 captures a subject within a desired imaging range and generates image data. The image data of the imaging device 220 is stored in the memory included in the imaging device 220 or the memory 160. The lens device 222 includes one or a plurality of lenses. The lens device 222 performs a zoom operation and a focus operation by moving one or more lenses along the optical axis. The lens device 222 can change the angle of view by a zoom operation.

  The imaging device 230 captures the surroundings of the UAV 100 and generates image data. Image data of the imaging device 230 is stored in the memory 160. The imaging device 220 includes a lens device 222. The imaging device 230 includes a lens device 232. The lens device 232 includes one or more lenses. The lens device 232 may execute the zoom operation and the focus operation by moving one or more lenses along the optical axis. The lens device 222 may be telephoto than the lens device 232. The lens device 222 may have a narrower angle of view than the lens device 232. The lens device 222 may have a longer focal length than the lens device 232. The imaging range of the imaging device 230 may be wider than the imaging range of the imaging device 220.

  The UAV control unit 110 controls the flight and imaging of the UAV 100 according to a program stored in the memory 160. The UAV 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 UAV control unit 110 controls flight and imaging of the UAV 100 according to a command received from a remote transmitter via the communication interface 150. The UAV control unit 110 functions as an imaging system by reading a program for flight control and imaging control from the memory 160 and executing the program. The UAV control unit 110, the imaging device 220, and the imaging device 230 are an example of an imaging system. The imaging system may include other configurations such as a gimbal 200.

  FIG. 3 shows an example of functional blocks of the UAV control unit 110. The UAV control unit 110 includes a stereoscopic information acquisition unit 111, a movement control unit 112, a subject specifying unit 114, an imaging range control unit 116, an imaging selection unit 118, a subject distance acquisition unit 120, and a focal length adjustment unit 122. Each unit included in the UAV control unit 110 may be configured by any one of hardware, firmware, and software.

  The three-dimensional information acquisition unit 111 acquires three-dimensional information of an imaging target based on images captured by a plurality of imaging devices 230. The three-dimensional information acquisition unit 111 may generate three-dimensional spatial data around the UAV 100 based on a plurality of images captured by the plurality of imaging devices 230. The three-dimensional information acquisition unit 111 is an example of a first acquisition unit.

  The movement control unit 112 controls the movement of the UAV 100 based on the image captured by the imaging device 230. The movement control unit 112 may control the movement of the UAV 100 based on the stereoscopic information acquired by the stereoscopic information acquisition unit 111. The movement control unit 112 may specify the environment around the UAV 100 by analyzing the three-dimensional information. The movement control unit 112 may control the flight of the UAV 100 so as to avoid an obstacle based on the environment around the UAV 100. The movement control unit 112 may control the flight based on the three-dimensional space data generated by the three-dimensional information acquisition unit 111. The movement control unit 112 is an example of a first control unit.

  The subject specifying unit 114 specifies a target subject based on an image captured by at least one of the plurality of imaging devices 230. The subject specifying unit 114 may specify a target subject based on an image captured by the imaging device 230 selected by the imaging selection unit 118. The subject specifying unit 114 is an example of a specifying unit. The imaging selection unit 118 may select an imaging device 230 having an imaging direction closer to the imaging direction of the imaging device 220 among the plurality of imaging devices 230. The imaging selection unit 118 is an example of a selection unit.

  The subject specifying unit 114 may specify a target subject based further on the image captured by the imaging device 220. The subject specifying unit 114 may specify a target subject based on an image captured by the imaging device 230 when the angle of view of the imaging device 220 is less than a predetermined value. An image is a concept including a still image or a moving image. The subject specifying unit 114 selects one of the subject specified based on the image captured by the imaging device 230 and the subject specified based on the image captured by the imaging device 220 according to a predetermined criterion. The target subject may be specified. The subject specifying unit 114 may compare the reliability of the subject specified by the image of the imaging device 230 with the reliability of the subject specified by the image of the imaging device 220. The subject specifying unit 114 may specify a subject with higher reliability as a target subject. The reliability of the subject is an index indicating the certainty of the subject. The subject specifying unit 114 may derive the reliability by deriving the similarity between the subject included in the predetermined reference image and the subject included in the captured image. The subject specifying unit 114 may derive the reliability of the subject using a so-called face authentication system.

  The imaging range control unit 116 performs control so that the subject specified by the subject specifying unit 114 is included in the imaging range of the imaging device 220. The imaging range control unit 116 may control the subject specified by the subject specifying unit 114 to be included in the imaging range of the imaging device 220 by controlling the angle of view of the imaging device 220. The imaging range control unit 116 may control the subject specified by the subject specifying unit 114 to be included in the imaging range of the imaging device 220 by controlling the orientation of the imaging device 220. The imaging range control unit 116 may control the direction of the imaging device 220 by controlling the gimbal 200. The imaging range control unit 116 may control the subject specified by the subject specifying unit 114 to be included in the imaging range of the imaging device 220 by controlling the position of the UAV 100. The imaging range control unit 116 is an example of a second control unit.

  The subject distance acquisition unit 120 acquires the distance to the subject specified by the subject specification unit 114 based on the image captured by the imaging device 230. The subject distance acquisition unit 120 is an example of a second acquisition unit. The movement control unit 112 may acquire the distance to the subject based on a plurality of images captured by the plurality of imaging devices 230 using, for example, a triangulation method. The focal length adjustment unit 122 adjusts the focal length of the imaging device 220 based on the distance to the subject acquired by the subject distance acquisition unit 120. The focal length adjustment unit 122 instructs the lens device 222 to perform focus adjustment based on the distance to the subject acquired by the subject distance acquisition unit 120. The focal length adjustment unit 122 is an example of an adjustment unit.

  The subject specifying unit 114 specifies a subject using at least one image of the imaging device 220 and the imaging device 230. Thereby, for example, when the UAV 100 tracks a specific subject, it is difficult to lose sight of the specific subject. The imaging device 230 may be a sensing camera that is used to control the flight of the UAV 100. Therefore, it is not necessary to provide a new camera in the UAV 100 in order to reinforce tracking of the subject.

  The sensing camera is used to detect an obstacle around the UAV 100, for example. Therefore, it is preferable that the sensing camera can capture a relatively wide area around the UAV 100. The field angle of the sensing camera is preferably wider than the field angle of the imaging camera. Therefore, the probability that the target subject is included in the imaging range of the sensing camera is higher than the probability that the target subject is included in the imaging range of the imaging camera. The imaging device 220 is a camera for imaging, and for example, there are cases where the angle of view is narrowed so that the subject is shown larger. If the angle of view is narrow, the subject is less likely to be included in the imaging range. Accordingly, the tracking of the subject by the image of the imaging device 230 is executed in parallel with the tracking of the subject by the image of the imaging device 220. Thereby, even if the UAV 100 cannot track the subject in the middle of the image of the imaging device 220, the subject can be continuously tracked by the image of the imaging device 230.

  4, 5, and 6 are diagrams illustrating an example of a positional relationship between a plurality of imaging ranges of a plurality of imaging devices. The imaging ranges 12, 14, 16, and 18 are imaging ranges of the imaging device 230, respectively. The positional relationship between the imaging ranges 12, 14, 16, and 18 is an example, and may be an arbitrary positional relationship.

  The imaging range 10 is an imaging range of the imaging device 220. As shown in FIG. 4, the target subject 30 exists outside the imaging range of the imaging device 220. In this case, even if the subject specifying unit 114 attempts to specify the subject 30 only with the image of the imaging device 220, the subject 30 cannot be specified because the subject 30 is not in the imaging range of the imaging device 220. The subject identifying unit 114 can identify the subject 30 from the image captured by the imaging device 230 having the imaging range 12 or the imaging range 14. After the subject specifying unit 114 specifies the subject 30 based on the image of the imaging device 230, the imaging range control unit 116 controls the gimbal 200 to adjust the imaging direction of the imaging device 220. Thereby, the imaging range control unit 116 may change the imaging range 10 of the imaging device 220 to the imaging range 10 ′. As shown in FIG. 5, the imaging range control unit 116 may control the lens device 222 to widen the angle of view of the imaging device 220. Thereby, the imaging range control unit 116 may change the imaging range 10 of the imaging device 220 to the imaging range 10 ′. The imaging range control unit 116 may change the position of the UAV 100 by controlling the rotary blade mechanism 210 as shown in FIG. Thereby, the imaging range control unit 116 may change the imaging range 10 of the imaging device 220 to the imaging range 10 ′. Through these controls, the subject specifying unit 114 can specify the subject again from the image of the imaging device 220.

  FIG. 7 is a diagram illustrating an example of a procedure for tracking a subject by the UAV 100. The procedure may be executed when, for example, a moving image captured by the imaging device 220 is provided to a transmitter of a user who operates the UAV 100.

  The subject specifying unit 114 accepts designation of a target subject in the image captured by the imaging device 220 (S100). The subject specifying unit 114 may accept designation of a target subject via a transmitter from, for example, a user observing a moving image captured by the imaging device 220. The user can change imaging conditions such as an angle of view, a focal length, and an imaging direction of the imaging device 230 at any time via the transmitter. The subject identifying unit 114 identifies the designated subject from the image captured by the imaging device 220 and tracks the subject (S102). The subject specifying unit 114 determines whether the angle of view of the imaging device 220 is less than a predetermined value (S104). If the angle of view of the imaging device 220 is greater than or equal to a predetermined value, the subject specifying unit 114 determines that tracking of the subject by the imaging device 230 is unnecessary, and continues only tracking by the imaging device 220. On the other hand, if the angle of view of the imaging device 220 is less than a predetermined value, the subject specifying unit 114 determines that there is a possibility that tracking of the subject by the imaging device 220 may not be possible, and the subject specifying unit 114 At the same time, tracking of the subject by 230 is attempted.

  Based on the imaging direction of the imaging device 220, the imaging selection unit 118 selects the imaging device 230 that is optimal for tracking the subject from the plurality of imaging devices 230 (S106). The imaging selection unit 118 selects the imaging device 230 having an imaging direction close to the imaging direction of the imaging device 220. The imaging selection unit 118 may specify the imaging direction of the imaging device 220 based on the attitude of the imaging device 220 with respect to the gimbal 200. The imaging selection unit 118 may specify the imaging direction of the imaging device 220 based on the rotation angle from the reference rotation angle of the pitch axis and yaw axis of the gimbal 200. The subject specifying unit 114 specifies a target subject from the image of the selected imaging device 230, and further tracks the subject (S108).

  The subject specifying unit 114 determines whether or not the subject is tracked based on the image of the imaging device 220 (S110). If tracking has been completed, the subject specifying unit 114 continues tracking the subject using the image of the imaging device 220. When the subject specifying unit 114 has not been able to track the subject by the image of the imaging device 220, the subject specifying unit 114 determines whether or not the subject has been tracked by the image of the selected imaging device 230 (S112). ).

  When the subject is tracked, the imaging range control unit 116 acquires the position of the subject based on the image of the imaging device 230. The subject distance acquisition unit 120 acquires the distance to the subject based on the image of the imaging device 230 (S114). The imaging range control unit 116 and the focal length adjustment unit 122 adjust the imaging conditions of the imaging device 220 based on the position of the subject and the distance to the subject (S116). The imaging range control unit 116 adjusts the imaging range by controlling the angle of view, the imaging direction, or the position of the UAV 100 based on the position of the subject. The focal length adjustment unit 122 adjusts the focal length of the imaging device 220 based on the distance to the subject. After the imaging condition of the imaging device 220 is adjusted, the subject specifying unit 114 continues tracking the subject using the image of the imaging device 220 again.

  If the subject identification unit 114 cannot track the subject from the images of the imaging device 220 and the imaging device 230, the subject identification unit 114 notifies the user that the subject cannot be tracked (S118). Upon receiving the notification, the user searches the subject by moving the UAV 100 or adjusting the imaging range of the imaging device 230.

  As described above, by tracking the subject using at least one image of the imaging device 220 and the imaging device 230, tracking of the subject by the UAV 100 can be more reliably performed. Also, when the imaging device 220 has a relatively wide angle of view, the subject tracking by the imaging device 230 is not executed, so the processing burden on the UAV control unit 110 can be reduced.

  FIG. 8 is a diagram illustrating another example of the subject tracking procedure performed by the UAV 100. Similar to the procedure illustrated in FIG. 7, the procedure may be executed when, for example, a moving image captured by the imaging device 220 is provided to the transmitter of the user of the UAV 100.

  The subject specifying unit 114 receives designation of a target subject in the image captured by the imaging device 220 (S200). The subject identifying unit 114 identifies the designated subject from the image captured by the imaging device 220 and tracks the subject (S202). Based on the imaging direction of the imaging device 220, the imaging selection unit 118 selects the imaging device 230 that is optimal for tracking the subject from the plurality of imaging devices 230 (S204). The subject specifying unit 114 specifies a target subject from the image of the selected imaging device 230, and further tracks the subject (S206).

  The subject specifying unit 114 calculates the reliability of each of the subject in the image of the imaging device 220 and the subject in the image of the imaging device 230 (S208). The subject specifying unit 114 determines whether or not the reliability of the imaging device 220 is equal to or higher than the reliability of the imaging device 230 (S210). If the reliability of the imaging device 220 is higher, the subject specifying unit 114 determines whether or not the subject is tracked by the image of the imaging device 220 (S212). The subject specifying unit 114 may determine whether or not the subject is tracked by the image of the imaging device 220 based on whether or not the reliability of the subject of the imaging device 230 is equal to or higher than a reference value. If the subject is tracked by the image of the imaging device 220, the subject specifying unit 114 continues tracking the subject by the image of the imaging device 220.

  When the reliability of the imaging device 220 is lower than the reliability of the imaging device 230, the imaging range control unit 116 acquires the position of the subject based on the image of the imaging device 230. The subject distance acquisition unit 120 acquires the distance to the subject based on the image of the imaging device 230 (S214). The imaging range control unit 116 and the focal length adjustment unit 122 adjust the imaging condition of the imaging device 220 based on the position of the subject and the distance to the subject (S216). The imaging range control unit 116 adjusts the imaging range by controlling the angle of view, the imaging direction, or the position of the UAV 100 based on the position of the subject. The focal length adjustment unit 122 adjusts the focal length of the imaging device 220 based on the distance to the subject. After the imaging conditions of the imaging device 220 are adjusted, the subject specifying unit 114 determines whether or not the subject has been tracked based on the image of the imaging device 220 (S212).

  If the subject has been tracked by the image of the imaging device 220, the subject specifying unit 114 continues tracking the subject by the image of the imaging device 220. On the other hand, when the subject cannot be tracked by the image of the imaging device 220, the user is notified that the subject cannot be tracked (S218). Upon receiving the notification, the user searches the subject by moving the UAV 100 or adjusting the imaging range of the imaging device 230.

  As described above, when the reliability of the subject specified by the image of the imaging device 220 is lower than that of the subject of the imaging device 230, the imaging condition of the imaging device 220 can be adjusted based on the image of the imaging device 230. Therefore, it is possible to suppress the UAV 100 from continuously tracking the subject that is erroneously specified by the image of the imaging device 220.

  At least one of the steps shown in the above embodiments may be implemented by hardware or a program instructing related hardware. The program may be stored in a computer readable recording medium. The recording medium may include at least one of a ROM, a magnetic disk, and an optical disk.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

100 UAV
102 UAV main body 110 UAV control unit 111 Three-dimensional information acquisition unit 112 Movement control unit 114 Subject specification unit 116 Imaging range control unit 118 Imaging selection unit 120 Subject distance acquisition unit 122 Focal length adjustment unit 150 Communication interface 160 Memory 200 Gimbal 210 Rotary blade mechanism 220 Imaging Device 222 Lens Device 230 Imaging Device 232 Lens Device

Claims (24)

A first imaging unit mounted on a moving body ;
A second imaging unit mounted on the moving body ;
A first control unit based on the first image captured, controls the movement of the movable body by the first image pickup unit,
A specifying unit for specifying a subject based on the first image;
A second control unit that controls the subject specified by the specifying unit to be included in an imaging range of the second imaging unit ;
The specifying unit specifies the subject based on an image picked up only by the second image pickup unit when an angle of view of the second image pickup unit is equal to or larger than a predetermined value . The first imaging unit includes a first lens device,
The imaging system according to claim 1, wherein the second imaging unit includes a second lens device that is more telephoto than the first lens device.   The imaging system according to claim 2, wherein the second lens device has a narrower angle of view than the first lens device.   The imaging system according to claim 2 or 3, wherein the second lens device has a longer focal length than the first lens device. A first imaging unit mounted on a moving body;
A second imaging unit mounted on the moving body;
A first control unit that controls movement of a moving body on which the second imaging unit is mounted based on a first image captured by the first imaging unit;
A specifying unit for specifying a subject based on the first image;
A second control unit for controlling the subject specified by the specifying unit to be included in an imaging range of the second imaging unit;
With
The first imaging unit includes a first lens device,
The second imaging unit includes a second lens device that is more telephoto than the first lens device,
The second lens device can change the angle of view;
The specific part is:
Wherein when the angle of view is below a predetermined value of the second lens unit, based on the image captured by the first image pickup unit, to identify the object, the imaging system.   The imaging system according to any one of claims 1 to 5, wherein an imaging range of the first imaging unit is wider than an imaging range of the second imaging unit. A first acquisition unit that acquires stereoscopic information of a subject based on the first image;
The imaging system according to any one of claims 1 to 6, wherein the first control unit controls movement of the moving body based on the three-dimensional information. A plurality of the first imaging units;
The imaging system according to claim 1, wherein the specifying unit specifies a subject based on an image captured by at least one of the plurality of first imaging units. A first imaging unit mounted on a moving body;
A second imaging unit mounted on the moving body;
A first control unit that controls movement of a moving body on which the second imaging unit is mounted based on a first image captured by the first imaging unit;
A specifying unit for specifying a subject based on the first image;
A second control unit for controlling the subject specified by the specifying unit to be included in an imaging range of the second imaging unit;
With
A first holding unit for holding a plurality of the first imaging units;
A second holding unit that holds the second imaging unit and can change an imaging direction of the second imaging unit;
A selection unit that selects the first imaging unit in the imaging direction closer to the imaging direction of the second imaging unit than the other first imaging units among the plurality of first imaging units;
The specifying unit, based on the image captured by the first image pickup unit the selection unit selects and identifies the subject, an imaging system. A first imaging unit mounted on a moving body;
A second imaging unit mounted on the moving body;
A first control unit that controls movement of a moving body on which the second imaging unit is mounted based on a first image captured by the first imaging unit;
A specifying unit for specifying a subject based on the first image;
A second control unit for controlling the subject specified by the specifying unit to be included in an imaging range of the second imaging unit;
With
The specifying unit further based on the second image captured by the second image pickup unit, to identify the object, the imaging system. A first imaging unit mounted on a moving body;
A second imaging unit mounted on the moving body;
A first control unit that controls movement of a moving body on which the second imaging unit is mounted based on a first image captured by the first imaging unit;
A specifying unit for specifying a subject based on the first image;
A second control unit for controlling the subject specified by the specifying unit to be included in an imaging range of the second imaging unit;
With
The specifying unit is configured to determine one of a subject specified based on the first image and a subject specified based on the second image captured by the second imaging unit, based on a predetermined reference. accordingly specified as an object, an imaging system. A second acquisition unit that acquires a distance to the subject specified by the specifying unit based on the first image;
The imaging system according to any one of claims 1 to 11, further comprising an adjustment unit that adjusts a focal length of the second imaging unit based on a distance to the subject acquired by the second acquisition unit. .   The second control unit controls the angle of view of the second imaging unit so that the subject specified by the specifying unit is included in the imaging range of the second imaging unit. The imaging system according to claim 12.   The second control unit controls the orientation of the second imaging unit so that the subject specified by the specifying unit is included in the imaging range of the second imaging unit. The imaging system according to any one of the above.   A moving body that moves with the imaging system according to claim 1.   The movement according to claim 15, wherein the second control unit controls the subject specified by the specifying unit to be included in an imaging range of the second imaging unit by controlling a position of the moving body. body. Based on the first image captured by the first imaging unit mounted on the mobile body, comprising: a second imaging unit for controlling the movement of the moving body mounted,
Identifying a subject based on the first image;
Controlling the identified subject to be included in the imaging range of the second imaging unit ,
The first imaging unit includes a first lens device,
The second imaging unit includes a second lens device,
The step of identifying the subject includes
When the angle of view of the second lens device is greater than or equal to a predetermined value, identifying a subject based on an image captured only by the second imaging unit;
When the angle of view of the second lens device is less than the predetermined value, identifying a subject based on an image captured by the first imaging unit;
An imaging method including: The second lens unit is a telephoto than the first lens unit, an imaging method according to claim 17. Controlling the movement of the moving body on which the second imaging unit is mounted based on the first image captured by the first imaging unit mounted on the moving body;
  Identifying a subject based on the first image;
  Controlling the identified subject to be included in the imaging range of the second imaging unit;
With
  The first imaging unit includes a first lens device,
  The second imaging unit includes a second lens device that is more telephoto than the first lens device,
  The step of identifying the subject includes
  When the angle of view of the second lens device is greater than or equal to a predetermined value, identifying a subject based on an image captured by the second imaging unit;
  When the angle of view of the second lens device is less than the predetermined value, identifying a subject based on an image captured by the first imaging unit;
An imaging method including: Obtaining a distance to the identified subject based on the first image;
The imaging method according to claim 17, further comprising: adjusting a focal length of the second imaging unit based on the acquired distance to the subject. Based on a first image captured by at least one of a plurality of first imaging units mounted on a moving body, a second imaging unit capable of changing the shooting direction with respect to the moving body is mounted. Controlling the movement of the moving body;
  Selecting a first imaging unit in an imaging direction closer to the imaging direction of the second imaging unit than the other first imaging units among the plurality of first imaging units;
  Identifying a subject based on the first image captured by the selected first imaging unit;
  Controlling the identified subject to be included in the imaging range of the second imaging unit;
An imaging method comprising: Controlling the movement of the moving body on which the second imaging unit is mounted based on the first image captured by the first imaging unit mounted on the moving body;
  Identifying a subject based on the first image;
  Controlling the identified subject to be included in the imaging range of the second imaging unit;
With
  The step of specifying the subject includes the step of specifying the subject further based on the second image picked up by the second image pickup unit. Controlling the movement of the moving body on which the second imaging unit is mounted based on the first image captured by the first imaging unit mounted on the moving body;
  Identifying a subject based on the first image;
  Controlling the identified subject to be included in the imaging range of the second imaging unit;
With
  In the step of specifying the subject, one of a subject specified based on the first image and a subject specified based on the second image captured by the second imaging unit is predetermined. An imaging method including a step of specifying as a subject according to a set standard. Program for executing the imaging method according to the computer in any one of claims 17 23.

Images