WO2018179402A1 - 情報処理装置、情報処理方法および情報処理プログラム - Google Patents
情報処理装置、情報処理方法および情報処理プログラム Download PDFInfo
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- WO2018179402A1 WO2018179402A1 PCT/JP2017/013773 JP2017013773W WO2018179402A1 WO 2018179402 A1 WO2018179402 A1 WO 2018179402A1 JP 2017013773 W JP2017013773 W JP 2017013773W WO 2018179402 A1 WO2018179402 A1 WO 2018179402A1
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- 230000010365 information processing Effects 0.000 title claims description 33
- 238000003672 processing method Methods 0.000 title claims description 3
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 5
- 239000003086 colorant Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000284 extract Substances 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/12—Helicopters ; Flying tops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Definitions
- the present invention relates to an information processing apparatus, an information processing method, and an information processing program.
- Patent Document 1 discloses a technique for acquiring a wide area image by a wireless aircraft.
- An object of the present invention is to provide a technique for solving the above-described problems.
- an apparatus provides: Wide-area image generation means for extracting and synthesizing a plurality of video frame images from a flying object image obtained by photographing a ground area spreading downward while the flying object moves, For each of the plurality of video frame images, an elapsed time measuring means for measuring an elapsed time from the shooting time by the flying object, An output means for outputting an elapsed time for each video frame image together with position information of the flying object when the video frame image is captured; Equipped with.
- the method according to the present invention comprises: A wide area that generates a wide range of captured images by combining multiple images included in the flying object image that captures the area that spreads downward while the aircraft is moving, using the position and image features of the aircraft at the time of shooting.
- An image generation step An elapsed time calculating step for calculating an elapsed time from the shooting time by the flying object for each of the wide-range captured image areas;
- a program provides: A wide area that generates a wide range of captured images by combining multiple images included in the flying object image that captures the area that spreads downward while the aircraft is moving, using the position and image features of the aircraft at the time of shooting.
- An image generation step An elapsed time calculating step for calculating an elapsed time from the shooting time by the flying object for each of the wide-range captured image areas;
- the present invention it is possible to measure an elapsed time from a past photographing time with respect to a partial region image constituting a wide area image, and to control the flying object according to the elapsed time.
- the “aircraft” is a so-called drone, which is an aircraft (UAV (Unmanned Aerial Vehicle)) that can be unmanned and can fly by remote control or autonomous control.
- UAV Unmanned Aerial Vehicle
- the information processing apparatus 100 is an apparatus for performing flight control according to the elapsed time from the shooting time by the flying object.
- the information processing apparatus 100 includes a wide area image generation unit 101, an elapsed time measurement unit 102, and an elapsed time output unit 103.
- the wide area image generation unit 101 extracts and synthesizes a plurality of video frame images 130 from the flying object image 120 obtained by photographing the ground area that spreads downward while the flying object 110 moves, and takes a wide range of captured images. Is generated.
- the elapsed time measuring unit 102 measures the elapsed time from the shooting time by the flying object 110 for each video frame image 130.
- the elapsed time output unit 103 outputs the elapsed time for each video frame image 130 together with the position information of the flying object 110 when the video frame image 130 is captured.
- FIG. 2 is a diagram for explaining an information processing system including the controller 201 and the flying object 202 as the information processing apparatus according to the present embodiment.
- the controller 201 is a device having a computing capability such as a so-called propo or notebook PC, and includes a wide area image generation unit 211, an elapsed time measurement unit 212, an elapsed time image generation unit 213, a display unit 214, an operation unit 215, and a control unit 216.
- the flying object 202 includes a flight drive unit 221 including a propeller and a motor, a flight control unit 222 that controls the flight drive unit 221, and an imaging unit 223 that captures an image.
- the wide area image generation unit 211 extracts and synthesizes a plurality of video frame images 230 from the flying object image 220 obtained by photographing the ground area that spreads downward while the flying object 202 moves, and takes a wide range of captured images. Is generated.
- selection, position adjustment, and the like of the image 230 are performed using the latitude / longitude, direction, and image characteristics at the time of shooting.
- the wide area image 300 generated in this way is shown in FIG.
- the wide area image 300 is generated by combining the partial images 230 obtained by the flying object 202 moving while photographing the positions indicated by (1) to (6).
- the elapsed time measuring unit 212 measures the relative time between the shooting time and the current time, that is, the elapsed time from the shooting time, for each video frame image 230.
- the case where a wide area image is generated by moving the arranged positions (1) to (6) has been described.
- the arrangement is not necessarily done. Flying position is not the best. As shown by an arrow 400 in FIG. 4, it is possible to fly around the fire 301 at random.
- the elapsed time image generation unit 213 generates a gradation image by combining the elapsed time for each video frame image with the position information of the flying object 202 when the video frame image is captured. Specifically, for each partial area included in the wide-area image, a gradation image is generated in which the difference in elapsed time is indicated by a difference in color or a change in color density.
- FIG. 5 is a diagram showing a gradation image 500 as an example. As shown in an image 501, a gradation image 500 is generated by sequentially changing the color intensity from an old partial image to a new partial image.
- the display unit 214 may display the gradation image 500 superimposed on the wide area image 300, displayed in parallel, or switched.
- the operation unit 215 receives a user operation and sends a control instruction to the flight control unit 222 of the flying object 202.
- control unit 216 receives the elapsed time for each video frame image from the elapsed time measurement unit 212, determines the moving route of the flying object 202 according to the elapsed time for each video frame image, and sends it to the flight control unit 222. Send. That is, the control unit 216 identifies the oldest video frame image having the longest elapsed time from the previous shooting time, and moves the flying object preferentially to the position where the oldest video frame image was shot.
- FIG. 6 is a flowchart showing the flow of processing in the controller 201.
- step S601 video data taken from the flying object 202 is acquired.
- step S603 a plurality of video frame images are extracted from the video data, and a plurality of video frame images are combined to generate a wide area image.
- step S605 the elapsed time for each partial image included in the wide area image is measured.
- step S607 a gradation image of elapsed time is generated using the elapsed time for each partial image and the position of the aircraft that captured the partial image. Alternatively, at this time, as a next destination, the vehicle is caused to fly to a position where a partial image having a long elapsed time is captured.
- FIG. 7 is a functional configuration diagram for explaining a schematic configuration of the information processing system 700 according to the present embodiment.
- the information processing system 700 according to the present embodiment is different from the second embodiment in that the information processing system 700 includes a video processing server 703 and a display 704, and the controller 701 does not include the wide area image generation unit 211 and the like. Since other configurations and operations are the same as those of the second embodiment, the same configurations and operations are denoted by the same reference numerals, and detailed description thereof is omitted.
- the wide-area image generation unit 711 of the video processing server 703 acquires the flying object image 220 via the controller 701, extracts and synthesizes a plurality of video frame images 230 from the flying object image 220, and generates a wide-area captured image. To do. When combining a plurality of video frame images 230, selection, position adjustment, and the like of the video frame image 230 are performed using the latitude / longitude, direction, and image characteristics at the time of shooting.
- the elapsed time measuring unit 712 measures the elapsed time from the shooting time point for each video frame image 230.
- the elapsed time image generation unit 713 generates a gradation image by combining the elapsed time for each video frame image 230 with the position information of the flying object 202 when the video frame image is captured.
- the display control unit 714 outputs the generated gradation image to the display 704.
- the display 704 may display the gradation image superimposed on the wide area image, displayed in parallel, or switched.
- the present invention may be applied to a system composed of a plurality of devices, or may be applied to a single device. Furthermore, the present invention can also be applied to a case where an information processing program that implements the functions of the embodiments is supplied directly or remotely to a system or apparatus. Therefore, in order to realize the functions of the present invention on a computer, a program installed on the computer, a medium storing the program, and a WWW (World Wide Web) server that downloads the program are also included in the scope of the present invention. . In particular, at least a non-transitory computer readable medium storing a program for causing a computer to execute the processing steps included in the above-described embodiments is included in the scope of the present invention.
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Abstract
Description
飛行体が移動しながら下方に広がる地上領域を撮影することにより得られた飛行体映像から、複数のビデオフレーム画像を抽出して合成し、広範囲の撮像画像を生成する広域画像生成手段と、
前記複数のビデオフレーム画像のそれぞれについて、前記飛行体による撮影時刻からの経過時間を測定する経過時間測定手段と、
前記ビデオフレーム画像ごとの経過時間を、前記ビデオフレーム画像が撮像された際の前記飛行体の位置情報と共に出力する出力手段と、
を備えた。
飛行体が移動しながら、下方に広がる領域を撮影した飛行体映像に含まれる複数画像を、撮影時の前記飛行体の位置と画像特徴とを用いて合成し、広範囲の撮像画像を生成する広域画像生成ステップと、
前記飛行体による撮影時刻からの経過時間を、前記広範囲の撮像画像領域ごとに算出する経過時間算出ステップと、
前記撮影領域ごとの経過時間を出力する出力ステップと、
を含む。
飛行体が移動しながら、下方に広がる領域を撮影した飛行体映像に含まれる複数画像を、撮影時の前記飛行体の位置と画像特徴とを用いて合成し、広範囲の撮像画像を生成する広域画像生成ステップと、
前記飛行体による撮影時刻からの経過時間を、前記広範囲の撮像画像領域ごとに算出する経過時間算出ステップと、
前記撮影領域ごとの経過時間を出力する出力ステップと、
をコンピュータに実行させる。
本発明の第1実施形態としての情報処理装置100について、図1を用いて説明する。情報処理装置100は、飛行体による撮影時刻からの経過時間に応じた飛行制御を行なうための装置である。
次に本発明の第2実施形態に係る情報処理システムについて、図2以降を用いて説明する。図2は、本実施形態に係る情報処理装置としてのコントローラ201と飛行体202とを含む情報処理システムを説明するための図である。
次に本発明の第3実施形態に係る情報処理システム700について、図7を用いて説明する。図7は、本実施形態に係る情報処理システム700の概略構成を説明するための機能構成図である。本実施形態に係る情報処理システム700は、上記第2実施形態と比べると、映像処理サーバ703とディスプレイ704を有しており、コントローラ701が広域画像生成部211などを有さない点で異なる。その他の構成および動作は、第2実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。
以上、実施形態を参照して本願発明を説明したが、本願発明は上記実施形態に限定されるものではない。本願発明の構成や詳細には、本願発明のスコープ内で当業者が理解し得る様々な変更をすることができる。また、それぞれの実施形態に含まれる別々の特徴を如何様に組み合わせたシステムまたは装置も、本発明の範疇に含まれる。
Claims (9)
- 飛行体が移動しながら下方に広がる地上領域を撮影することにより得られた飛行体映像から、複数のビデオフレーム画像を抽出して合成し、広範囲の撮像画像を生成する広域画像生成手段と、
前記複数のビデオフレーム画像のそれぞれについて、前記飛行体による撮影時刻からの経過時間を測定する経過時間測定手段と、
前記ビデオフレーム画像ごとの経過時間を、前記ビデオフレーム画像が撮像された際の前記飛行体の位置情報と共に出力する出力手段と、
を備えた情報処理装置。 - 前記出力手段は、前記撮像画像と共に、前記経過時間を表わす経過時間画像を表示する表示手段である請求項1に記載の情報処理装置。
- 前記出力手段は、前記撮像画像に重畳して、前記経過時間を表わす経過時間画像を表示する表示手段である請求項1に記載の情報処理装置。
- 前記経過時間画像は、経過時間の大きさを、異なる色によって表わした画像である請求項2または3に記載の情報処理装置。
- 前記経過時間画像は、経過時間の大きさを、色の濃さの変化によって表わした画像である請求項2または3に記載の情報処理装置。
- 前記飛行体を制御する制御手段をさらに備え、
前記制御手段は、前記ビデオフレーム画像ごとの経過時間に応じて、前記飛行体の移動ルートを決定する請求項1乃至5のいずれか1項に記載の情報処理装置。 - 前記制御手段は、過去の撮影時刻からの経過時間が最も長い最古ビデオフレーム画像を特定し、前記最古ビデオフレーム画像を撮影した位置に前記飛行体を移動させる請求項6に記載の情報処理装置。
- 飛行体が移動しながら下方に広がる地上領域を撮影することにより得られた飛行体映像から、複数のビデオフレーム画像を抽出して合成し、広範囲の撮像画像を生成する広域画像生成ステップと、
前記複数のビデオフレーム画像のそれぞれについて、前記飛行体による撮影時刻からの経過時間を測定する経過時間測定ステップと、
前記ビデオフレーム画像ごとの経過時間を、前記ビデオフレーム画像が撮像された際の前記飛行体の位置情報と共に出力する出力ステップと、
を含む情報処理方法。 - 飛行体が移動しながら下方に広がる地上領域を撮影することにより得られた飛行体映像から、複数のビデオフレーム画像を抽出して合成し、広範囲の撮像画像を生成する広域画像生成ステップと、
前記複数のビデオフレーム画像のそれぞれについて、前記飛行体による撮影時刻からの経過時間を測定する経過時間測定ステップと、
前記ビデオフレーム画像ごとの経過時間を、前記ビデオフレーム画像が撮像された際の前記飛行体の位置情報と共に出力する出力ステップと、
をコンピュータに実行させる情報処理プログラム。
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US16/498,046 US10873689B2 (en) | 2017-03-31 | 2017-03-31 | Information processing apparatus, information processing method, and information processing program |
JP2019508474A JP6773213B2 (ja) | 2017-03-31 | 2017-03-31 | 情報処理装置、情報処理方法および情報処理プログラム |
EP17904329.4A EP3606031A4 (en) | 2017-03-31 | 2017-03-31 | INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM |
PCT/JP2017/013773 WO2018179402A1 (ja) | 2017-03-31 | 2017-03-31 | 情報処理装置、情報処理方法および情報処理プログラム |
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EP3606031A1 (en) | 2020-02-05 |
JPWO2018179402A1 (ja) | 2020-01-16 |
JP6773213B2 (ja) | 2020-10-21 |
EP3606031A4 (en) | 2020-03-11 |
US10873689B2 (en) | 2020-12-22 |
CN110419209A (zh) | 2019-11-05 |
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