JP7089757B2 - Imaging system and imaging method - Google Patents

Description

The present invention relates to an imaging system and an imaging method.

In Patent Document 1, the reference position of the floor surface on which the moving pedestal moves and the reference angle of the moving pedestal are set, the amount of movement of the moving pedestal from the reference position and the rotation angle from the reference angle are detected, and the reference position and the reference. An imaging method and an imaging system for grasping the position and angle of a camera with respect to a subject from an angle, a moving amount of a moving platform, and a rotation angle are disclosed. The mobile pedestal has at least three wheels, each provided with an encoder, and the rotation angle of the mobile gantry draws at least three straight lines passing through the center of each wheel and parallel to the moving direction. In some cases, the straight lines are calculated from the amount of movement grasped by the encoders provided on any two wheels that are separated from each other.

Patent No. 3926601

In the invention described in Patent Document 1, a pedestal is used as a mobile mount. A pedestal is a means for translating a camera in any direction, and is large and expensive. Therefore, although the imaging system using a pedestal is suitable for a permanent installation in a studio, there is a problem that it is not suitable for relaying or event shooting because it is difficult to carry.

Further, the pedestal described in Patent Document 1 has a handle, and the moving direction of the pedestal is determined by the turning angle of the handle. Therefore, the invention described in Patent Document 1 has a problem that it cannot be applied to a mobile pedestal that does not use a handle.

Further, in the invention described in Patent Document 1, three wheels of the pedestal are steered to determine the traveling direction of the pedestal, and measurement is performed using the three wheels. However, in practice, it is mechanically difficult to orient the three wheels in the same direction without error (aligning the three wheels). Therefore, in the invention described in Patent Document 1, the misalignment of the directions of the three wheels causes slippage of the wheels with respect to the floor surface, which may cause a measurement error.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide an imaging system and an imaging method capable of accurately grasping the position and angle of a camera while being compact and easy to carry. ..

In order to solve the above problems, the image pickup system according to the present invention is an image pickup system that images a subject, and is provided on the frame body and the frame body, and the direction of the wheels with respect to the frame body does not rotate in a plan view. A mobile pedestal having a first fixed wheel and a second fixed wheel, and one or more free wheels provided on the frame body and capable of rotating the direction of the wheels with respect to the frame body in a plan view, and the moving pedestal. A mounting portion that is detachably mounted and has a rotation axis provided substantially along the vertical direction in a state of being mounted on the moving platform, a camera provided on the mounting portion, and the above. The first fixed wheel is provided with a first encoder for acquiring the number of rotations of the first fixed wheel, and the second fixed wheel is provided with a calculation unit for calculating the position of the camera and the rotation angle of the camera. Is provided with a second encoder that acquires the number of rotations of the second fixed wheel, the rotation axis is provided with a sensor that acquires the rotation angle of the rotation axis, and the calculation unit is the first encoder. And, based on the number of rotations acquired by the second encoder, the amount of movement of the center point, which is the center of the first line connecting the first fixed wheel and the second fixed wheel, and the rotation angle of the first line are determined. Based on the amount of movement of the center point and the rotation angle of the first line, the position of the rotation axis located on the second line passing through the center point and substantially orthogonal to the first line is obtained, and the rotation axis is obtained. The position of the camera and the rotation angle of the camera are obtained based on the position of, the rotation angle of the first line, the rotation angle acquired by the sensor, and the positional relationship between the rotation axis and the camera. It is a feature.

According to the imaging system according to the present invention, the fixed wheels of the mobile pedestal do not rotate the direction of the wheels with respect to the frame in plan view, and the free wheels of the mobile pedestal can rotate the direction of the wheels with respect to the frame in plan view. be. A mounting portion having a rotation axis provided substantially along the vertical direction and a camera provided in the mounting portion are detachably mounted on the mobile mount. This makes it small and easy to carry. Further, the amount of movement of the center point, which is the center of the first line connecting the first fixed wheel and the second fixed wheel, and the rotation angle of the first line are determined based on the rotation speeds of the first fixed wheel and the second fixed wheel. The position of the rotation axis (located on the second line passing through the center point and substantially orthogonal to the first line) is obtained based on the movement amount of the center point and the rotation angle of the first line, and the position of the rotation axis and the first line. The position of the camera and the rotation angle of the camera are obtained based on the rotation angle of one line, the rotation angle acquired by the sensor, the rotation axis, and the positional relationship with the camera. This makes it possible to accurately grasp the position and angle of the camera. In particular, since movement and measurement are performed using two wheels that can easily secure each other's position accuracy, the accuracy of the acquired position information can be improved.

Here, the mounting portion is provided on the rotating shaft, and is provided with a rod-shaped arm that can swing within a range of ± 90 degrees or less with respect to the horizontal direction, and the camera is provided at the tip of the arm. It is a crane having a head, and the calculation unit has a rotation angle of the rotation axis, an angle of the arm with respect to the horizontal direction, a positional relationship between the rotation axis and the head, and the camera acquired by the head. The position of the camera and the rotation angle of the camera may be obtained based on the parameters of. This enables a wide range of imaging from a low angle to a high angle.

Here, a compositing unit that synthesizes an image captured by the camera and a computer graphic (CG) image based on the position of the camera and the rotation angle of the camera is provided, and the calculation unit moves the moving platform. Even if an arbitrary reference position and an arbitrary reference line are set on the reference plane, the movement amount with respect to the reference position is obtained as the movement amount of the center point, and the rotation angle with respect to the reference line is obtained as the rotation angle of the first line. good. As a result, the position and angle of the camera can be accurately grasped, and the captured image and the CG image can be combined without any discomfort.

Here, the position calculation unit that calculates the positional relationship between the computer graphic (CG) coordinate system and the camera coordinate system, and the image captured by the camera and the CG image based on the result calculated by the position calculation unit are combined. The position calculation unit sets two points whose positions in the CG coordinate system are known, and the first point of the two points is imaged by the camera, and the first point is captured. The pan angle, tilt angle, and height of the camera when the points are imaged are detected, the position of the first point in the camera coordinate system is obtained based on these, and the second point out of the two points is determined. The image is taken by the camera, the pan angle, tilt angle and height of the camera when the second point is imaged are detected, and the position of the second point in the camera coordinate system is obtained based on these, and the above is described. The positional relationship between the CG coordinate system and the camera coordinate system may be calculated based on the positions of the first point and the second point in the camera coordinate system. As a result, the captured image and the CG image can be easily combined.

In order to solve the above problems, the imaging method according to the present invention includes a frame body and a first fixed wheel and a second fixed wheel provided on the frame body in which the direction of the wheels with respect to the frame body does not rotate in a plan view. A camera mounted on a mobile pedestal having one or more free wheels provided on the frame body and capable of rotating the direction of the wheels with respect to the frame body in a plan view via a mounting portion having a rotation axis. An imaging method for imaging a subject, the first encoder provided on the first fixed wheel to acquire the rotation speed of the first fixed wheel, and the second fixed wheel provided on the second fixed wheel. The first step of acquiring the rotation number of the first fixed wheel and the rotation number of the second fixed wheel from the second encoder for acquiring the rotation number, the rotation number of the first fixed wheel, and the second fixed wheel, respectively. The second step of obtaining the amount of movement of the center point, which is the center of the first line connecting the first fixed wheel and the second fixed wheel, and the rotation angle of the first line, based on the number of rotations of the first line, and the above. The third step of finding the position of the rotation axis located on the second line passing through the center point and substantially orthogonal to the first line based on the movement amount of the center point and the rotation angle of the first line, and the rotation. The rotation angle of the rotation axis is acquired from a sensor provided on the shaft, the position of the rotation axis, the rotation angle of the first line, the rotation angle of the rotation axis, and the position of the rotation axis and the camera. It is characterized by including a fourth step of determining the position of the camera and the rotation angle of the camera based on the relationship.

According to the present invention, the position and angle of the camera can be accurately grasped while being small and easy to carry.

It is a figure which shows the outline of the image pickup system 1 which concerns on this invention. It is a top view which shows the outline of a dolly 10. It is a block diagram which shows the electrical structure of the image pickup system 1. It is a figure which shows typically the appearance that the dolly 10 moved in a minute time. It is a flowchart which shows the flow of the process performed by the image pickup system 1. It is a top view which shows the outline of the dolly 10A which concerns on the modification. It is a top view which shows the outline of the dolly 10B which concerns on a modification. It is a top view which shows the outline of the dolly 10C which concerns on the modification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The image pickup system of the present invention is a mobile camera system used when shooting a subject in a movie, a television, or the like.

FIG. 1 is a diagram showing an outline of an imaging system 1 according to the present invention. The image pickup system 1 includes a dolly 10, a tripod 20, an arm 30, a head 40, a camera 50, and an operation unit 60.

The dolly 10 is a moving platform that moves on the floor or the ground of the studio (hereinafter referred to as the reference surface X). FIG. 2 is a plan view (viewed from above in the vertical direction) showing an outline of the dolly 10. The dolly 10 mainly has a frame body 11, rear wheels 12 and 13, and front wheels 14.

The frame body 11 has a base portion 11a and three leg portions 11b extending radially from the base portion 11a. In the present embodiment, since the number of wheels is three, the number of legs 11b is also three. At the tip of the leg portion 11b, a mounting portion 11c on which the tripod 20 is mounted is provided.

Further, rear wheels 12, 13 and front wheels 14 are provided at the tips of the legs 11b, respectively. The rear wheels 12, 13 and the front wheels 14 are provided on the bottom surface side of the leg portion 11b.

The rear wheels 12 and 13 are fixed wheels in which the direction of the wheels with respect to the frame 11 (legs 11b) does not rotate in a plan view (viewed from the upper side in the vertical direction). The rear wheels 12 and 13 are provided with encoders 72 and 73 (see FIG. 3) that acquire the rotation speeds of the rear wheels 12 and 13, respectively.

The front wheel 14 is a free wheel whose direction of the wheel with respect to the frame body 11 can be rotated in a plan view. By changing the direction of the front wheel 14, the moving direction of the dolly 10 changes.

The dolly 10 usually moves in a state where the rear wheels 12 and 13 are located behind the front wheels 14 in the traveling direction. However, when the traveling direction is reversed, the rear wheels 12 and 13 move in a state of being located on the front side in the traveling direction with respect to the front wheels 14. The dolly 10 is moved by a force pushed by a cameraman, a handler, or the like.

Returning to the description of FIG. The tripod 20 is detachably attached to the dolly 10 and moves with the movement of the dolly 10.

The tripod 20 has a base portion 21 including three legs 21a and a rotation shaft 22 provided on the base portion 21. The three legs 21a are each mounted on the mounting portion 11c. The rotation shaft 22 is provided substantially along the vertical direction in a state where the tripod 20 is placed on the dolly 10, and is rotatable with respect to the base portion 21. An arm 30 is provided on the rotating shaft 22.

The arm 30 is a rod-shaped member and can swing within a range of ± 90 degrees or less with respect to the horizontal direction. Therefore, it is possible to take a wide range of images from a low angle to a high angle. In FIG. 1, a state in which the arm 30 is extended in the horizontal direction is shown by a solid line. Further, the arm 30 rotates about the rotation shaft 22 as the rotation shaft 22 rotates. The tripod 20 and the arm 30 correspond to the mounting portion of the present invention.

The tripod 20 removed from the dolly 10 becomes rod-shaped and easy to carry by closing the legs 21a of the base portion 21 and making the arm 30 substantially parallel to the rotation axis 22.

The head 40 is provided at the tip of the arm 30. The camera 50 is provided on the head 40. The head 40 has a pan / tilt mechanism and pans / tilts the camera 50. Since the arm 30, the head 40, and the camera 50 can use already known techniques, the description thereof will be omitted.

The operation unit 60 is provided near the end of the arm 30 on the side where the head 40 is not provided. The operation unit 60 is provided with an input device and a display unit (not shown). Further, a control unit 70 (see FIG. 3) is provided inside the operation unit 60.

FIG. 3 is a block diagram showing an electrical configuration of the image pickup system 1. The control unit 70 is a program control device such as a CPU (Central Processing Unit) which is an arithmetic unit, and operates according to a program stored in a storage unit (not shown). The control unit 70 mainly functions as a calculation unit 71 and a position calculation unit 75.

Encoders 72 and 73 are connected to the control unit 70. The encoders 72 and 73 acquire the rotation speeds of the rear wheels 12 and 13, respectively, and this information is input to the calculation unit 71.

Further, a sensor 23 provided on the rotating shaft 22 is connected to the control unit 70. The sensor 23 acquires the rotation angle of the rotation shaft 22, and this information is input to the calculation unit 71.

Further, a sensor 31 connected to the arm 30 is connected to the control unit 70. The sensor 31 acquires an angle of the arm 30 with respect to the horizontal direction, and this information is input to the calculation unit 71.

Further, a head 40 is connected to the control unit 70. The head 40 acquires parameters (information about pan, tilt, etc.) of the camera 50, and this information is input to the calculation unit 71 and the position calculation unit 75.

The calculation unit 71 calculates the position of the rotation shaft 22 and the position of the camera 50 based on the input information. The position calculation unit 75 calculates the positional relationship between the computer graphic (CG) coordinate system and the camera coordinate system with the reference position as the origin.

A synthesis unit 80 is connected to the control unit 70. The information obtained by the control unit 70 is input to the synthesis unit 80. The synthesis unit 80 is, for example, a computer connected to the control unit 70. The synthesizing unit 80 synthesizes the image captured by the camera 50 and the CG image based on the result calculated by the control unit 70. The CG image may be input to the compositing unit 80 in advance, or may be input from a computer or the like (not shown) connected to the compositing unit 80.

It should be noted that the configuration of the imaging system 1 shown in FIG. 3 has described the main configuration in explaining the features of the present embodiment, and does not exclude, for example, the configuration provided in a general information processing apparatus. The functional configurations shown in FIG. 3 are classified in order to make the configuration of the imaging system 1 easy to understand, and the method and names of the components are not limited to the form shown in FIG.

Further, the position where the control unit 70 is provided is not limited to the inside of the operation unit 60. For example, a computer connected to the operation unit 60 may function as the control unit 70. Even when the computer connected to the operation unit 60 is used as the control unit 70, the control unit 70 is still included in the image pickup system 1.

Here, the processing of the arithmetic unit 71 will be described with reference to FIG. FIG. 4 is a diagram schematically showing how the dolly 10 moves during a minute time (t = T1 to T2, t indicates time). The coordinates shown in FIG. 4 are in the camera coordinate system.

The calculation unit 71 obtains the movement amount A of the rear wheel 12 when a minute time has elapsed, based on the rotation speed acquired by the encoder 72. Further, the calculation unit 71 obtains the movement amount B of the rear wheel 13 when a minute time has elapsed, based on the rotation speed acquired by the encoder 73. The movement amounts A and B are obtained by adding the distance traveled by the rear wheels 12 and 13 in one rotation to the number of rotations.

Further, the calculation unit 71 obtains the movement amount ΔD of the dolly 10 when a minute time has elapsed, based on the movement amounts A and B. The movement amount ΔD is obtained by the mathematical formula (1).
ΔD = (A + B) / 2 ... (1)

Further, the calculation unit 71 obtains the rotation angle Δθ of the line C when a minute time has elapsed, based on the movement amounts A and B. The line C is a line connecting the rear wheels 12 and the rear wheels 13. The two-dot chain line in FIG. 4 is a line parallel to the line C when t = T1. The rotation angle Δθ of the line C is obtained by the following mathematical formula (2).
Δθ = (AB) / L ... (2)

Then, the calculation unit 71 obtains the position change Δx in the x direction and the position change Δy in the y direction of the point D when a minute time elapses, based on the movement amount ΔD of the dolly 10 and the rotation angle Δθ of the line C. The point D is the center of the line C. The position changes Δx and Δy are obtained by the following mathematical formulas (3) and (4).
Δx = ΔD × sinθ ・ ・ ・ (3)
Δy = ΔD × cosθ ・ ・ ・ (4)

The calculation unit 71 integrates the position changes Δx and Δy obtained by the mathematical formulas (3) and (4) to move the dolly 10 with respect to the reference position O and the rotation angle with respect to the reference line, that is, the point D of the dolly 10. The position (x, y) of is obtained. Here, the reference position O is the origin on the reference plane. The reference line is a line along the x direction in the camera coordinates. Before the dolly 10 starts moving, it is assumed that the point D is located at the reference position O and the line C is parallel to the reference line.

Further, the calculation unit 71 obtains the position (X, Y) of the center E of the rotation axis 22 based on the position (x, y) of the point D. The position (X, Y) of the center E is obtained by the following mathematical formulas (3) and (4). Here, YL is an offset amount between the point D and the position of the rotation axis 22 on the line F passing through the point D and substantially orthogonal to the line C. Further, the rotation angle θ is a value obtained by integrating the rotation angles Δθ, and is a rotation angle with respect to the reference line.
X = x-YL x sinθ ... (3)
Y = y−YL × cosθ ・ ・ ・ (4)

The center E is arranged on the line F, but the offset amount YL can change depending on the size and weight of the tripod 20, the arm 30, the head 40, the camera 50, and the like.

FIG. 5 is a flowchart showing the flow of processing performed by the imaging system 1. The calculation unit 71 sets the camera coordinate system on the reference plane X (step S10). The origin of the camera coordinate system is the reference position O shown in FIG. Here, it is preferable that the dolly 10 is installed on the reference plane so that the point D substantially coincides with the reference position O and the line C is substantially parallel to the x-axis of the camera coordinate system.

Next, the position calculation unit 75 calculates the positional relationship between the computer graphic (CG) coordinate system and the camera coordinate system with the reference position as the origin (step S11). Hereinafter, the process of step S11 will be described.

First, two points, A point and B point, whose positions in the CG coordinate system are known, are set as reference planes. It is desirable that points A and B are points on the x-axis in the CG coordinate system.

The camera 50 takes an image of the point A, detects the parameters (pan angle, tilt angle, etc. of the camera 50) at this time, and obtains the position of the point A in the camera coordinate system. Similarly, the camera 50 takes an image of the point B, detects the parameter at this time, and obtains the position of the point B in the camera coordinate system.

Then, from the positions of points A and B in the camera coordinate system, the rotation angle θ of the CG coordinate system with respect to the camera coordinate system and the position of the camera 50 in the CG coordinate system are obtained. Then, the positional relationship between the CG coordinate system and the camera coordinate system is calculated based on the position calculation result of the camera 50 in the CG coordinate system. This ends the process of step S11.

The processing of steps S10 and S11 is not essential. For example, when the camera coordinate system and the CG coordinate system are matched in step S10, step S11 is unnecessary. Further, for example, when step S11 is performed, step S10 is unnecessary.

Next, the calculation unit 71 calculates the movement amount of the dolly 10 with respect to the reference position O and the rotation angle with respect to the reference line (that is, the position (x, y) of the point D) (step S12).

Then, the calculation unit 71 obtains the position and rotation angle of the camera 50 based on the movement amount of the dolly 10 with respect to the reference position O and the rotation angle with respect to the reference line (step S13).

In step S13, first, the calculation unit 71 obtains the position (X, Y) of the center E of the rotation axis 22 based on the movement amount of the dolly 10 with respect to the reference position O, that is, the position (x, y) of the point D. Further, the calculation unit 71 acquires the rotation angle of the rotation shaft 22 from the sensor 23. Then, the calculation unit 71 is based on the position of the center E (X, Y), the rotation angle θ with respect to the reference line of the dolly 10, the rotation angle of the rotation axis 22, and the positional relationship between the center E and the camera 50. The position and rotation angle of the camera 50 are obtained.

In the present embodiment, the positional relationship between the center E and the camera 50 is obtained as follows. The calculation unit 71 obtains the rotation angle of the arm 30 with respect to the reference line based on the rotation angle of the rotation shaft 22. Further, the calculation unit 71 acquires the angle of the arm 30 with respect to the horizontal direction. Then, based on the rotation angle of the arm 30 with respect to the x-axis and the angle with respect to the horizontal direction, and the length of the arm 30 (distance between the rotation axis 22 and the head 40), the position of the head 40 with respect to the rotation axis 22 and the rotation of the head 40. Find the angle. The length of the arm 30 is a predetermined value. Next, the calculation unit 71 acquires the parameters of the camera 50 from the head 40, and based on the parameters of the camera 50, determines the position of the camera 50 with respect to the position of the head 40 and the rotation angle of the camera 50 with respect to the rotation angle of the head 40. Ask. Then, the calculation unit 71 centers E based on the position of the head 40 with respect to the rotation axis 22 and the rotation angle of the head 40, and the position of the camera 50 with respect to the position of the head 40 and the rotation angle of the camera 50 with respect to the rotation angle of the head 40. And the positional relationship between the camera 50 and the camera 50 are obtained.

Then, the synthesis unit 80 is based on the positional relationship with the camera coordinate system obtained by the position calculation unit 75 in step S11 and the position and rotation angle of the camera 50 obtained by the calculation unit 71 in step S13. Combines the image captured by the camera and the CG image (step S14). When the camera coordinate system and the CG coordinate system are matched in step S10 and step S11 is omitted, the synthesis unit 80 is based on the position and rotation angle of the camera 50 obtained by the calculation unit 71 in step S13. The image captured by the camera 50 and the CG image are combined (step S14).

The control unit 70 determines whether or not the imaging is completed (step S15). If the imaging is not completed (NO in step S15), the control unit 70 returns the process to step S12 and repeats the processes of steps S12 to 15. When the imaging is completed (YES in step S15), the control unit 70 ends the process.

According to the present embodiment, the dolly 10 and the tripod 20 can be attached to and detached from each other without using a pedestal, so that the image pickup system 1 can be compact and easy to carry. In particular, since the dolly 10 of the present embodiment does not include a steering mechanism, more free movement is possible and the overall structure is simplified. Therefore, a small and inexpensive imaging system 1 can be obtained.

Further, according to the present embodiment, the position and the rotation angle of the camera 50 can be surely grasped. Then, by acquiring the correct position information of the camera 50, the image captured by the camera 50 and the CG image can be combined without any discomfort.

For example, when steering the three wheels of the pedestal to determine the direction of travel of the pedestal, it is mechanically difficult to orient the three wheels in the same direction without error, and the wheels are misaligned due to the misalignment of the three wheels. Slip on the floor surface. Further, since it is necessary to perform measurement using three wheels, there is a possibility that a measurement error may occur due to slippage of the wheels on the floor surface. On the other hand, in the dolly 10 of the present embodiment, since the movement and the measurement are performed by using the two wheels that can easily secure the mutual position accuracy, the accuracy of the acquired position information can be improved.

Further, according to the present embodiment, the positional relationship between the camera coordinate system and the CG coordinate system can be grasped by capturing the two points of the CG coordinate system installed on the reference plane with the camera. For example, when using a position calibration sheet in which two types of plates having different colors are combined, the moving stand must be moved to the position calibration sheet, but this is not necessary in this embodiment, so that the positional relationship is sufficient. Is easy to grasp.

In the present embodiment, the mounting portion having the tripod 20 and the arm 30 is mounted on the dolly 10, but the arm 30 is not essential. For example, the head 40 may be provided near the upper end of the rotating shaft 22. In this case, since the position and rotation angle of the rotation axis 22 and the position and rotation angle of the head 40 are substantially the same, the calculation unit 71 has the rotation axis 22 (center E) and the camera 50 based on the parameters of the camera 50. The positional relationship with and should be obtained.

The dolly 10 of the present embodiment uses a frame 11 having three legs 11b extending radially from the base 11a, but the form of the frame is not limited to this. FIG. 6 is a plan view showing an outline of the dolly 10A according to the modified example. The dolly 10A has a frame body 11A having a substantially T-shaped plan view. The center E1 of the rotation axis 22 at this time substantially coincides with the center of the line C, that is, the point D. In other words, the center E1 is located on the line F, and the offset amount YL (see FIG. 4) is 0. FIG. 7 is a plan view showing an outline of the dolly 10B according to the modified example. The dolly 10B has a frame body 11B having a substantially triangular shape in a plan view.

Further, the dolly 10 of the present embodiment has two rear wheels 12 and 13 and one front wheel 14, but the number of wheels possessed by the dolly is not limited to this. FIG. 8 is a plan view showing an outline of the dolly 10C according to the modified example. The dolly 10C has a frame body 11C having a substantially rectangular shape, two rear wheels 12 and 13, and two front wheels 14 and 15. Like the front wheel 14, the front wheel 15 is a free wheel in which the direction of the wheel with respect to the frame body 11 can be rotated in a plan view. The center E2 of the rotation shaft 22 is located on the line F. A mounting portion having four legs 21a is mounted on the dolly 10C.

Further, in the present embodiment, the position and rotation angle of the camera 50 are obtained based on the position (x, y) of the point D with respect to the reference position O and the rotation angle θ with respect to the reference line, but the position change of the point D is obtained. The position and rotation angle of the camera 50 may be obtained from Δx, Δy and the rotation angle Δθ. For example, with reference to the position (x, y) of the point D at a certain time point (t = T1) and the rotation angle θ with respect to the reference line, that is, the position and rotation angle of the camera 50 at t = T1, after a minute time has elapsed (t = The position and rotation angle of the camera 50 at t = T2 may be obtained based on the position change Δx, Δy and the rotation angle Δθ of the point D at T2).

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design changes and the like within a range not deviating from the gist of the present invention. .. Here, the "abbreviation" is a concept that includes not only the case of being exactly the same but also an error or deformation to the extent that the identity is not lost. Further, in the present invention, the "neighborhood" means to include a region of a certain range (which can be arbitrarily determined) near the reference position. For example, in the case of the vicinity of A, it is a concept indicating that it is a region in a certain range near A and may or may not include A.

1: Imaging system 10, 10A, 10B, 10C: Dolly 11, 11A, 11B, 11C: Frame body 11a: Base portion 11b: Leg portion 11c: Mounting portion 12, 13: Rear wheel 14, 15: Front wheel 20: Tripod 21: Base 21a: Leg 22: Rotating shaft 23: Sensor 30: Arm 31: Sensor 40: Head 50: Camera 60: Operation unit 70: Control unit 71: Calculation unit 72, 73: Encoder 75: Position calculation unit 80: Synthesis part

Claims (5)

An imaging system that captures the subject
The frame, the first fixed wheel and the second fixed wheel provided on the frame and the direction of the wheel with respect to the frame does not rotate in a plan view, and the wheel provided on the frame and with respect to the frame in a plan view. With one or more free wheels, the orientation of which is rotatable, and a mobile pedestal,
A mounting portion that is detachably attached to the mobile pedestal and has a rotating shaft provided substantially along the vertical direction when mounted on the mobile pedestal.
The camera provided in the mounting part and
A calculation unit that calculates the position of the camera and the rotation angle of the camera,
Equipped with
The first fixed wheel is provided with a first encoder that acquires the rotation speed of the first fixed wheel.
The second fixed wheel is provided with a second encoder that acquires the rotation speed of the second fixed wheel.
The rotating shaft is provided with a sensor that acquires the rotation angle of the rotating shaft.
The calculation unit moves the center point, which is the center of the first line connecting the first fixed wheel and the second fixed wheel, based on the rotation speeds acquired by the first encoder and the second encoder. And the rotation angle of the first line is obtained, and based on the movement amount of the center point and the rotation angle of the first line, the rotation located on the second line passing through the center point and substantially orthogonal to the first line. The position of the camera is obtained, and the position of the camera and the position of the camera are obtained based on the position of the rotation axis, the rotation angle of the first line, the rotation angle acquired by the sensor, and the positional relationship between the rotation axis and the camera. An imaging system characterized in that the rotation angle of the camera is obtained. The mounting portion includes a rod-shaped arm provided on the rotation axis and swingable within a range of ± 90 degrees or less with respect to the horizontal direction, a head provided at the tip of the arm and provided with the camera, and a head. Is a crane with
The calculation unit of the camera is based on the rotation angle of the rotation axis, the angle of the arm with respect to the horizontal direction, the positional relationship between the rotation axis and the head, and the parameters of the camera acquired by the head. The imaging system according to claim 1, wherein the position and the rotation angle of the camera are obtained. A compositing unit that synthesizes an image captured by the camera and a computer graphic (CG) image based on the position of the camera and the rotation angle of the camera is provided.
The calculation unit sets an arbitrary reference position and an arbitrary reference line on the reference plane on which the moving platform moves, obtains the amount of movement with respect to the reference position as the amount of movement of the center point, and rotates the first line. The imaging system according to claim 1 or 2, wherein the rotation angle with respect to the reference line is obtained. A position calculation unit that calculates the positional relationship between the computer graphic (CG) coordinate system and the camera coordinate system,
A compositing unit that synthesizes an image captured by the camera and a CG image based on the result calculated by the position calculating unit, and a compositing unit.
Equipped with
The position calculation unit sets two points whose positions in the CG coordinate system are known, images the first point of the two points with the camera, and the camera when the first point is imaged. The pan angle, tilt angle, and height of the above are detected, the position of the first point in the camera coordinate system is obtained based on these, the second point of the two points is imaged by the camera, and the first point is taken. The pan angle, tilt angle and height of the camera when two points are imaged are detected, the position of the second point in the camera coordinate system is obtained based on these, and the first point in the camera coordinate system is obtained. The imaging system according to claim 1 or 2, wherein the positional relationship between the CG coordinate system and the camera coordinate system is calculated based on the position of the second point. The frame, the first fixed wheel and the second fixed wheel provided on the frame and the direction of the wheel with respect to the frame does not rotate in a plan view, and the wheel provided on the frame and with respect to the frame in a plan view. It is an imaging method in which a subject is imaged by a camera mounted on a mobile pedestal having one or more free wheels whose orientation is rotatable via a mounting portion having a rotation axis.
From a first encoder provided on the first fixed wheel and acquiring the rotation speed of the first fixed wheel, and a second encoder provided on the second fixed wheel and acquiring the rotation speed of the second fixed wheel. The first step of acquiring the rotation speed of the first fixed wheel and the rotation speed of the second fixed wheel, respectively,
Based on the rotation speed of the first fixed wheel and the rotation speed of the second fixed wheel, the amount of movement of the center point which is the center of the first line connecting the first fixed wheel and the second fixed wheel and the said. The second step to find the rotation angle of the first line,
A third step of obtaining the position of the rotation axis located on the second line passing through the center point and substantially orthogonal to the first line based on the movement amount of the center point and the rotation angle of the first line.
The rotation angle of the rotation axis is acquired from the sensor provided on the rotation axis, and the position of the rotation axis, the rotation angle of the first line, the rotation angle of the rotation axis, the rotation axis and the camera The fourth step of obtaining the position of the camera and the rotation angle of the camera based on the positional relationship of
An imaging method comprising.

Images