JPH0843028A - Apparatus for detecting position of moving body - Google Patents

Abstract

PURPOSE:To provide an apparatus for detecting the position of a moving body, which can obtain the positional relationship of the moving body with respect to a fixed body accurately without effects of the brightness of an image pickup environment. CONSTITUTION:An ITV camera 1 picks up the image in an image pickup region including a white line 12 and a tire 11 on a road 13. A processing device 3 accepts the image picked up in the first time with the ITV camera 1. The stop of an imaging lens 2 of the ITV camera 1 is controlled based on the accepted brightness information of the image. Thereafter, the processing device 3 accepts the image picked up in the second time with the ITV camera 1 and operates the sum of the image, which is accepted in the first time, and the image, which is accepted in the second time. Thus, the position of the moving body with respect to a fixed body in the image pickup region is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention provides an example of detecting the position of a moving object that moves near a fixed object.
The present invention relates to a moving object position detecting device for detecting the position of a tire of an automobile moving near a fixed object which is a white line on a road.

[0002]

2. Description of the Related Art For example, the following is known as an example of a moving object position detecting device of this type. That is, an ITV camera as an image capturing unit captures an image in an image capturing area including a moving object and a fixed object, converts the image into an electric signal, and continuously captures it. The image signal taken in here is subjected to analog-digital conversion and then stored in the image memory. After that, by analyzing the contents of the image memory, the position calculation processing of the moving object is performed, and as a result, the position of the moving object is displayed on the screen of the monitor.

In this example, for example, as shown in FIG. 26, measurement of the positional relationship between a fixed and reference object 12 such as a white line on a road 13 and a moving object 11 such as an automobile tire. Consider the case of trying to do. FIG. 26 shows an example of an image captured by the ITV camera, and FIG. 27 shows an example of the luminance distribution of this captured image.
Note that in FIG. 27, 11a indicates the luminance distribution of the tire 11, 12a indicates the luminance distribution of the white line 12, and 13a indicates the luminance distribution of the road 13.

White line 1 which is a fixed object in the captured image
2 is generally brighter than the surrounding brightness formed by the road 13. Therefore, since an appropriate threshold value (threshold value 2) can be calculated from the luminance distribution of FIG. 27, the white line 12 can be extracted by performing binarization with this threshold value 2. By projecting this white line extraction image on the Y axis, the position of the fixed object (white line) 12 can be obtained from this projection information.

The brightness of the tire 11 moving here is darker than the surrounding brightness. Therefore, the tire 11 can be extracted by binarizing with an appropriate threshold value (threshold value 1) that can be calculated from the luminance distribution of FIG.
By projecting this tire extraction image on the Y axis, the position of the moving object (tire) 11 can be obtained from this projection information.

The position difference obtained here can be geometrically converted into a value on the actual road according to the installation position, angle, and angle of view of the ITV camera, and the distance between the moving object and the fixed object is obtained. be able to.

[0007]

However, in the above-mentioned conventional moving object position detecting apparatus, when the brightness of the imaging environment changes and the imaging environment becomes brighter, it is brighter than the surrounding environment and the surrounding environment. There is a problem in that it is difficult to extract a bright object because the difference in brightness from the object is reduced.

If the surrounding environment becomes dark,
There is a problem that it is difficult to extract a dark object because the difference in brightness between the surrounding environment and the dark object is smaller than that of the surrounding environment. Therefore, it is an object of the present invention to provide a moving object position detection device that can accurately determine the positional relationship of a moving object with respect to a fixed object without being affected by the brightness of the imaging environment.

[0009]

SUMMARY OF THE INVENTION A moving object position detecting apparatus according to the present invention includes an image pickup means for picking up an image in an image pickup area including a moving object and a fixed object, the image pickup means having a variable aperture, and the image pickup means. Capturing means for continuously capturing the images captured by, and control means for controlling the aperture of the imaging lens of the image capturing means based on the brightness information of the images captured by the capturing means at the first time. Calculating a sum of an image captured by the capturing means at a second time after the aperture of the imaging lens is controlled by the control means and an image captured at the first time. The calculation means for calculating the position of the moving object with respect to the fixed object in the imaging area.

The moving object position detecting device of the present invention is
A first image pickup lens for picking up an image in an image pickup region including a moving object and a fixed object, each having a different aperture
And a second image pickup means, a capturing means for continuously capturing the images captured by the first and second image capturing means, respectively, and the first image capturing means captured by the capturing means. Calculating means for calculating the position of the moving object with respect to the fixed object in the imaging region by calculating the sum of the image from the image capturing device and the image captured by the capturing device from the second image capturing device. It has.

The moving object position detecting device of the present invention is
An image pickup unit for picking up an image in an image pickup region including a moving object and a fixed object, an amplification unit for amplifying an output of the image pickup unit and having a variable amplification factor, and the image pickup unit obtained from the output of the amplification unit. Capture means for continuously capturing the picked-up images, control means for controlling the amplification factor of the amplifying means based on the brightness information of the image captured by the capture means at the first time, and this control Calculating the sum of the image captured by the capturing means and the image captured by the first time at the second time after the amplification factor of the amplification means is controlled by the means. , Arithmetic means for obtaining the position of the moving object with respect to the fixed object in the imaging area.

Further, the moving object position detecting device of the present invention is
First and second image pickup means for picking up an image in an image pickup region including a moving object and a fixed object, and the first and second image pickup means.
First and second amplifying means for amplifying the respective outputs of the image pickup means, the amplification factors of which are changeable, and the first and second amplifying means.
And capturing means for continuously capturing the respective images captured by the first and second image capturing means obtained from the respective outputs of the second and second amplifying means, and the first capturing means captured by the capturing means. The position of the moving object with respect to the fixed object in the imaging region is obtained by calculating the sum of the image from the first imaging device and the image from the second imaging device captured by the capturing device. And a calculation means.

Further, the moving object position detecting apparatus of the present invention has image pickup lenses for picking up an image in an image pickup area including a moving object and a fixed object, each of which has a different aperture.
In addition, first and second image pickup means arranged so that their optical axes coincide with the direction vertical to the position detection direction of the moving object, and the respective image pickup means imaged by the first and second image pickup means. Capture means for successively capturing images, an image from the first image capturing means captured by the capture means, and a second image capturing means captured by the capture means. And a calculating means for calculating the position of the moving object with respect to the fixed object in the imaging area by calculating the sum with the image.

[0014]

According to the present invention, the aperture of the image pickup lens of the image pickup means or the amplification factor of the video signal is controlled by the brightness information of the image captured at the first time, and the image is displayed at the second time thereafter. And the image captured at the first time and the image captured at the second time are calculated to obtain the position of the moving object with respect to the fixed object within the imaging region, It is possible to accurately obtain the positional relationship of a moving object with respect to a fixed object without being affected by light and dark.

Further, according to the present invention, the first and second image pickup means each having an image pickup lens having a different aperture or a video signal amplifying means having a different amplification factor are provided. By calculating the sum of the captured image and the image captured by the second image capturing means to obtain the position of the moving object with respect to the fixed object within the image capturing area, the light and darkness of the image capturing environment is not affected. The positional relationship of the moving object with respect to the fixed object can be accurately obtained.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, as an example of detecting the position of a moving object that moves in the vicinity of a fixed object, for example, the position of a tire of an automobile that moves in the vicinity of a fixed and still white reference line on the road is determined. The case of detection will be described.

First, the first embodiment will be described. FIG. 1 shows the configuration of a moving object position detecting device according to the first embodiment. That is, the ITV as the image pickup means
The camera 1 captures an image in an imaging region including a fixed object (white line) 12 and a moving object (tire) 11 on a road 13 and converts it into an electric signal. The image signal picked up by the ITV camera 1 is sent to the processing device 3 through a transmission path, and the processing device 3 performs position calculation processing of the moving object 11 and the like. As a result, the position of the moving object 11 is displayed on the screen of the monitor 4.

The processing device 3 is constructed, for example, as shown in FIG. That is, first, the ITV camera 1 continuously captures images in the imaging area, and the processing device 3
Sent to In the processing device 3, the image signal captured by the A / D converter 8 is subjected to analog-digital conversion and stored in the image memory 5 as a storage means. The image processing unit 6 analyzes the contents of the image memory 5 to determine that the moving object 11
And the aperture control of the taking lens 2 of the ITV camera 1 via the overall control unit 7.

In this case, while controlling the aperture of the image pickup lens 2 of the ITV camera 1 for taking an image, the image is taken in,
The measurement processing of the position of the moving object 11 is performed. The imaging lens 2 is controlled by the image processing unit 6 that processes the image captured from the ITV camera 1 via the overall control unit 7.

In this embodiment, the white line (fixed object) 12 and the tire (moving object) 11 on the road 13 are recognized. When recognizing the white line 12, the white line 12 is extracted by darkening the image by controlling the diaphragm of the imaging lens 2 of the ITV camera 1 in the closing direction. Further, in order to recognize the tire 11, the aperture of the imaging lens 2 of the ITV camera 1 is controlled in the opening direction to brighten the image, and the image is captured. This control is performed by the image processing unit 6.

After that, the image processing unit 6 can extract the bright information and the dark information at the same time by adding the both captured images. However, in the present embodiment, some errors may occur in the capture of these two images, and in that case, a fixed object such as the white line 12 is used as an index for alignment, and the images are added. It has become.

The overall operation will be described below with reference to the flow chart shown in FIG. The present apparatus performs initial setting when the power is turned on and the moving object 11 does not exist, and then, when the moving object 11 comes in, the position detection process of the moving object 11 is started. This position detection processing is continued until the moving object 11 stops or disappears from the imaging area.

Initial setting is performed according to the flowchart shown in FIG. That is, at the time of initial setting, there is no moving object 11 and only the fixed object 12 exists in the imaging area. Therefore, as an initial setting, the ITV camera 1
By taking in the image including the fixed object 12, the image brightness histogram is calculated. Then, it is determined whether or not the calculated luminance histogram is a proper value, and if it is not a proper value, the aperture of the image pickup lens 2 of the ITV camera 1 is controlled, and when the proper value is reached, the initial setting process ends.

Thus, as an initial setting, the image pickup lens 2 of the ITV camera 1 is set to a diaphragm that optimally extracts the fixed object (white line) 12, that is, a state in which the diaphragm is closed. In the case of the normal aperture, the captured image becomes bright as shown in FIG. 3, and the difference in brightness between the white line 12 and the road 13 becomes small, and it becomes difficult to separate the white line 12 and the road 13. When the aperture is controlled to close in order to recognize the image, the captured image becomes dark as shown in FIG. 4, and the brightness difference between the white line 12 and the road 13 increases,
The white line 12 and the road 13 can be easily separated.

When the initial setting is completed in this way, it is determined whether or not there is the moving object 11 by capturing the image in the image pickup area, and if the moving object 11 exists, the position thereof is measured. This position measurement process is shown in FIG.
It is performed according to the flowchart shown in FIG.

That is, the state of the diaphragm at the time of initial setting (the state in which the diaphragm is closed) is the initial state, and an image including the moving object 11 that has entered in this state is captured as shown in FIG. Since this image is taken with the diaphragm closed, the difference in brightness between the dark and dark tire 11 and the road 13 is small, and a dark moving object such as the tire 11 is appropriately extracted. Is difficult Therefore, by opening the diaphragm of the imaging lens 2 to capture an image, the image is brightened to facilitate extraction of a dark-colored object. FIG. 6 shows an example of a captured image with this aperture opened.

By using the images of both FIG. 5 and FIG. 6 to find the edge of the object, the positional relationship between the moving object 11 and the fixed object 12 can be accurately found. This state is shown in FIGS. 7 and 8. That is, the white line 12 and the road 13 can be separated in the image with the diaphragm closed in FIG. 5, and the tire 11 and the road 13 can be separated in the image with the diaphragm opened in FIG.

In the present embodiment, by adding the images of FIGS. 5 and 6, an image (see FIG. 7) in which the white line 12, the road 13 and the tire 11 can be recognized is generated. In this case, it is important to add the two weighted according to the difference in aperture.

Next, the edges of the image after this addition are extracted. Various edge extraction methods have been conventionally proposed, but in the present embodiment, for example, the image added as described above (see FIG. 7) is displayed in the X direction and the Y direction.
Differentiate in the direction, and the maximum or 0 → minimum point or minimum →
The point that becomes 0 → maximum is defined as an edge. An example of this edge extraction method is shown in FIG. FIG. 8 shows an example of the edge image generated in this way.

In FIG. 12, (a) is the same added image as in FIG. 7, and (b) is the line L of the image in (a).
1 is a luminance distribution signal, (c) is a signal obtained by differentiating the signal in (b), (d) is a luminance distribution signal in the line L2 of the image in (a), and (e) is a signal obtained by differentiating the signal in (d). Are shown respectively.

Next, the edge used for measurement is recognized from the edge image thus obtained. For example, tire 1
Before and after 1, if the lower end of the tire 11 and the straight line in the front direction of the white line 12 are used, one of the lateral edge of the tire 11 and the lateral edge of the white line 12 that is located at the bottom of the screen is the target edge. I think. The distance on these images is obtained as the number of pixels between edges. The difference in position obtained here can be geometrically converted into a value on the actual road on the basis of the installation position of the ITV camera 1, the angle, and the angle of view, and the distance between the moving object 11 and the fixed object 12 is calculated. be able to.

Next, a second embodiment will be described. The same parts as those in the first embodiment will be described with the same reference numerals. FIG. 13 shows the configuration of a moving object position detecting device according to the second embodiment. In the present embodiment, the position of a moving object is detected using a plurality of ITV cameras equipped with image pickup lenses having different apertures.

That is, each of the ITV cameras 1a and 1b as the image pickup means has an image pickup lens 2 whose diaphragm can be changed.
a and 2b are mounted and arranged so that their optical axes coincide with each other in the vertical direction. ITV cameras 1a and 1b
Captures an image in an imaging region including a fixed object (white line) 12 and a moving object (tire) 11 on the road 13, respectively, and converts the image into an electric signal. This ITV camera 1a, 1b
Each image signal picked up by the
Then, the processing device 3 performs position calculation processing of the moving object 11 and the like. As a result, the position of the moving object 11 is displayed on the screen of the monitor 4.

The processing device 3 is constructed, for example, as shown in FIG. That is, first, the ITV camera 1
From a and 1b, the images of the imaging area are continuously captured,
It is sent to the processing device 3. In the processing device 3, the image signals captured by the A / D converters 8a and 8b are respectively converted into analog signals.
Digitally converted and stored in the image memory 5, respectively. The image processing unit 6 analyzes the contents of the image memory 5 to perform the position measurement process of the moving object 11, and the aperture control of the imaging lenses 2a and 2b of the ITV cameras 1a and 1b via the overall control unit 7. Do.

In this embodiment, the white line 12 and the tire 11 on the road 13 are recognized. When recognizing the white line 12, an ITV camera equipped with an imaging lens with a closed diaphragm,
For example, a dark image from the ITV camera 1b is used. Further, in order to recognize the tire 11, a bright image is captured from an ITV camera equipped with an imaging lens with an open diaphragm, for example, the ITV camera 1a. This control is performed by the image processing unit 6.

After that, the image processing unit 6 can extract the bright information and the dark information at the same time by adding the both captured images. However, in the present embodiment, some errors may occur in the capture of these two images, and in that case, a fixed object such as the white line 12 is used as an index for alignment, and the images are added. It has become.

The overall operation of this embodiment is the same as the first operation described above.
Since it is represented by the flowchart of FIG. 9 similarly to the first embodiment, the description thereof is omitted, but the initialization processing and the position measurement processing of the moving object are different from those of the first embodiment.

The initial setting is performed according to the flowchart shown in FIG. That is, at the time of initial setting, there is no moving object 11 and only the fixed object 12 exists in the imaging area. Therefore, as an initial setting, the ITV camera 1
After setting the diaphragms of the imaging lenses 2a and 2b of a and 1b to the same, the image including the fixed object 12 is captured, and the ITV
The parallax of the cameras 1a and 1b is recognized. In this case, the captured image from one ITV camera 1a becomes like the solid line shown in FIG. 15, but the captured image from the other ITV camera 1b becomes like the broken line shown in FIG. 15, and the subtraction between these images is performed. By carrying out, the parallax between the two images can be obtained as shown in FIG.

Next, one ITV camera, for example, IT
The diaphragm of the imaging lens 2a of the V camera 1a is opened, and the other I
Image pickup lens 2 of TV camera, for example ITV camera 1b
Close the aperture of b.

Thus, when the initial setting is completed, it is determined whether or not there is the moving object 11 by taking in the image in the image pickup area, and if the moving object 11 exists, the position thereof is measured. This position measurement process is shown in FIG.
This is performed according to the flowchart shown in FIG.

That is, the state of the diaphragm at the time of initial setting is the initial state, and an image including the moving object 11 entering in this state is imaged by the ITV camera 1b with the diaphragm closed as shown in FIG. Since this image is taken with the diaphragm closed, the difference in brightness between the dark and dark tire 11 and the road 13 is small, and a dark moving object such as the tire 11 is appropriately extracted. Is difficult Therefore, by using an image captured by the ITV camera 1a with the aperture open, the image is brightened to facilitate extraction of a dark-colored object. FIG. 6 shows an example of an image captured from the ITV camera 1a with the diaphragm opened.

The positional relationship between the moving object 11 and the fixed object 12 can be accurately found by finding the edge of the object using both the images of FIGS. 5 and 6. This state is shown in FIGS. 7 and 8. That is, the white line 12 and the road 13 can be separated in the image of the ITV camera 1b with the diaphragm closed in FIG. 5, and the tire 11 and the road 13 can be separated in the image of the ITV camera 1a with the diaphragm closed in FIG.

In this embodiment, by adding the images of FIGS. 5 and 6, an image (see FIG. 7) in which the white line 12, the road 13 and the tire 11 can be recognized is generated. Also in this case, it is important to perform addition by weighting both depending on the difference in aperture. At this time, the addition operation is performed by shifting the image by the parallax so as to cancel the parallax obtained at the time of initial setting.

Next, the edge of the image after this addition is extracted. This edge extraction processing is the same as that of the first embodiment described above, so description will be omitted. Next, the edge used for measurement is recognized from the edge image obtained by the edge extraction processing. For example, if the lower end of the tire 11 and the straight line in the front direction of the white line 12 are used for the front and rear of the tire 11, the lateral edge of the tire 11 and the lateral edge of the white line 12 that are located at the bottom of the screen most are selected. Think of it as the target edge. The distance on these images is obtained as the number of pixels between edges. The difference between the positions obtained here can be geometrically converted into a value on the actual road according to the installation position, the angle, and the angle of view of the ITV cameras 1a and 1b.
And the distance of the fixed object 12 can be obtained.

In the second embodiment, the ITV cameras 1a and 1b are arranged in parallel in the vertical direction, and their optical axes are aligned in the vertical direction. In this method, the ITV camera 1
Since the horizontal parallax between a and 1b is “0”, the error in the horizontal edge detection is small, and the accuracy of the moving object 11 in the horizontal direction is high. On the contrary, when increasing the accuracy in the front-back direction, as shown in FIG. 19, the ITV camera 1a,
1b may be arranged side by side in the horizontal direction, and their optical axes may be aligned in the horizontal direction. In this case, the initial images obtained from the ITV cameras 1a and 1b are as shown in FIG. 20, and the parallax images obtained from them are as shown in FIG.

In the first and second embodiments, the optical aperture change is used. However, depending on the ITV camera,
Depending on whether the subject is bright or dark, there are some that can be adjusted by an electric amplification factor (gain). Such an ITV camera can brighten a dark image or darken a bright image by changing its amplification factor.

Therefore, in such a case, if the amplification factor of the ITV camera is changed, the same effect as in the case of changing the optical diaphragm can be obtained. 22 to 25 show configuration examples in this case.

The examples of FIGS. 22 and 23 are applied to the first embodiment, and the output (video signal) of the ITV camera 1 is shown.
In the case where the amplifier 20 whose amplification factor is variable is outside the ITV camera 1, the amplification factor of the amplifier 20 is controlled by the processing device 3 similarly to the control of the optical diaphragm.

The examples of FIGS. 24 and 25 are applied to the second embodiment, and the amplifier 20 capable of changing the amplification factor for amplifying each output (video signal) of the ITV cameras 1a and 1b.
In the case where a and 20b are outside the ITV cameras 1a and 1b, the processing device 3 controls the amplification factors of the amplifiers 20a and 20b, respectively, similarly to the control of the optical diaphragm. In addition, an amplifier whose gain can be changed is I
It goes without saying that the same can be applied to the case of being built in a TV camera.

[0050]

As described in detail above, according to the present invention, the aperture of the image pickup lens of the image pickup means or the amplification factor of the video signal is controlled by the brightness information of the image captured at the first time. The position of the moving object relative to the fixed object in the imaging area is calculated by capturing the image at the subsequent second time and calculating the sum of the image captured at the first time and the image captured at the second time. Thus, it is possible to provide a moving object position detection device that can accurately find the positional relationship of a moving object with respect to a fixed object without being affected by the brightness of the imaging environment.

Further, according to the present invention, the first and second image pickup means each having an image pickup lens having a different aperture or a video signal amplifying means having a different amplification factor are provided. By calculating the sum of the captured image and the image captured by the second image capturing means to obtain the position of the moving object with respect to the fixed object within the image capturing area, the light and darkness of the image capturing environment is not affected. It is possible to provide a moving object position detection device capable of accurately obtaining the positional relationship of a moving object with respect to a fixed object.

[Brief description of drawings]

FIG. 1 is a configuration diagram schematically showing a moving object position detection device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a processing device according to the first embodiment.

FIG. 3 is a diagram showing an example of a first captured image at the time of initial setting in the first embodiment.

FIG. 4 is a diagram showing an example of the best captured image at the time of initial setting in the first embodiment.

FIG. 5 is a diagram showing an example of a captured image when a diaphragm is closed during position detection in the first and second embodiments.

FIG. 6 is a diagram showing an example of a captured image when an aperture is opened during position detection in the first and second embodiments.

FIG. 7 is a diagram showing an image example in which two captured images are added in the first and second embodiments.

FIG. 8 is a diagram showing an edge image example of an extracted object in the first and second embodiments.

FIG. 9 is a flowchart illustrating the overall operation in the first and second embodiments.

FIG. 10 is a flowchart illustrating an initial setting process according to the first embodiment.

FIG. 11 is a flowchart illustrating a moving object position measuring process according to the first embodiment.

FIG. 12 is a diagram for explaining edge extraction methods in the first and second embodiments.

FIG. 13 is a configuration diagram schematically showing a moving object position detection device according to a second embodiment of the present invention.

FIG. 14 is a block diagram showing the configuration of a processing device according to a second embodiment.

FIG. 15 is a diagram showing an example of a first captured image at the time of initial setting in the second embodiment.

[Fig. 16] Fig. 16 is a diagram illustrating an example of a parallax image obtained in the second example.

FIG. 17 is a flowchart illustrating an initial setting process according to the second embodiment.

FIG. 18 is a flowchart illustrating a moving object position measuring process according to the second embodiment.

FIG. 19 is a configuration diagram schematically showing a moving object position detection device according to a third embodiment of the present invention.

FIG. 20 is a diagram showing an example of a first captured image at the time of initial setting in the third embodiment.

FIG. 21 is a diagram illustrating an example of a parallax image obtained in the third example.

FIG. 22 is a configuration diagram schematically showing a moving object position detection device according to a fourth embodiment of the present invention.

FIG. 23 is a block diagram showing the configuration of a processing device according to a fourth embodiment.

FIG. 24 is a configuration diagram schematically showing a moving object position detection device according to a fifth embodiment of the present invention.

FIG. 25 is a block diagram showing the configuration of a processing device according to a fifth embodiment.

FIG. 26 is a diagram showing an example of a captured image at the best aperture for explaining the conventional apparatus.

FIG. 27 is a diagram showing an example of the luminance distribution of a captured image at the best aperture for explaining the conventional apparatus.

[Explanation of symbols]

 1, 1a, 1b ... ITV camera (imaging means) 2, 2a, 2b ... Imaging lens 3 ... Processing device 4 ... Monitor 5 ... Image memory (storage means) 6 ... Image processing unit 7 ... Whole Control unit 8, 8a, 8b ... D / A conversion unit 11 ... Tire (moving object) 12 ... White line (fixed object) 13 ... Road 20, 20a, 20b ... Amplifier

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical indication location H04N 7/18 K 9061-5H G06F 15/70 350 B

Claims (5)

[Claims] 1. An image pickup unit having an image pickup lens capable of changing a diaphragm, for picking up an image in an image pickup region including a moving object and a fixed object, and a fetching unit for continuously taking in images picked up by the image pickup unit. And a control means for controlling the aperture of the image pickup lens of the image pickup means according to the brightness information of the image captured by the image pickup means at the first time, and the control means controls the aperture of the image pickup lens. Second
Calculation for obtaining the position of the moving object with respect to the fixed object in the imaging area by calculating the sum of the image captured by the capturing means at the time of 1 and the image captured at the first time. A moving object position detecting device comprising: 2. A first and second image pickup means for picking up an image in an image pickup area including a moving object and a fixed object, each having an image pickup lens having a different aperture, and the first and second image pickup means. Capture means for continuously capturing each captured image, images from the first image capture means captured by the capture means, and the second image captured by the capture means. A moving object position detecting device comprising: a calculating unit that calculates a position of a moving object with respect to a fixed object in the image pickup area by calculating a sum with an image from the image pickup unit. 3. An image pickup means for picking up an image in an image pickup area including a moving object and a fixed object, an amplifying means for amplifying an output of the image pickup means and having a variable amplification factor, and an output obtained from the amplifying means. Capture means for continuously capturing images captured by the image capturing means, and control for controlling the amplification factor of the amplifying means based on the brightness information of the image captured by the capturing means at the first time. Means for summing the image captured by the capturing means at the second time after the amplification factor of the amplifying means is controlled by the control means and the image captured at the first time. A moving object position detecting device, comprising: a calculating unit that calculates the position of the moving object with respect to the fixed object in the imaging area. 4. First and second image pickup means for picking up an image in an image pickup area including a moving object and a fixed object, and amplification factors for amplifying respective outputs of the first and second image pickup means, respectively. Of the first and second amplifying means and the respective images captured by the first and second image capturing means obtained from the respective outputs of the first and second amplifying means are continuously taken. The sum of the capturing means for capturing, the image from the first image capturing means captured by the capturing means, and the image from the second image capturing means captured by the capturing means is calculated. Thus, a moving object position detecting device comprising: a calculating unit that obtains the position of the moving object with respect to the fixed object in the imaging area. 5. An image pickup lens for picking up an image in an image pickup region including a moving object and a fixed object, each having an aperture different from each other, and each optical axis being perpendicular to a position detecting direction of the moving object. The first and second image pickup means arranged so as to correspond to each other, the fetching means for continuously fetching the respective images picked up by the first and second image pickup means, and the fetching means. By calculating the sum of the captured image from the first image capturing means and the image captured by the capturing means from the second image capturing means, a fixed object in the image capturing area is obtained. A moving object position detecting device comprising: a calculating unit that obtains the position of a moving object.