WO2024105951A1 - 監視カメラシステム、マスク補正方法、及び、プログラム - Google Patents

監視カメラシステム、マスク補正方法、及び、プログラム Download PDF

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Publication number
WO2024105951A1
WO2024105951A1 PCT/JP2023/029946 JP2023029946W WO2024105951A1 WO 2024105951 A1 WO2024105951 A1 WO 2024105951A1 JP 2023029946 W JP2023029946 W JP 2023029946W WO 2024105951 A1 WO2024105951 A1 WO 2024105951A1
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Prior art keywords
image
surveillance camera
captured
amount
mask
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PCT/JP2023/029946
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English (en)
French (fr)
Japanese (ja)
Inventor
笑辰 張
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Konica Minolta Inc
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Konica Minolta Inc
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Priority to JP2024558649A priority Critical patent/JPWO2024105951A1/ja
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • 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
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a surveillance camera system, a mask correction method, and a program.
  • Patent Document 1 relates to a technology for changing the shooting direction of the surveillance camera by driving the camera platform.
  • Patent Document 1 describes how "when registering a preset, an image of that position (registered position image) is stored in memory along with pan/tilt position information, and the image captured at the moved position when reproducing the preset and the registered position image are image-processed to detect the amount of deviation, and the camera platform is driven and controlled in a direction that reduces the deviation, thereby improving the stillness accuracy when reproducing the preset.”
  • a surveillance camera system may set a mask on that area and monitor the area by excluding it from the monitoring target.
  • a part of an image captured by a surveillance camera is designated as a mask area in advance, and image processing (e.g., object recognition processing) is performed on the area other than the mask area to detect the appearance or change of an object in the monitoring target.
  • image processing e.g., object recognition processing
  • a gas refining plant is assumed to be the monitoring target, and a surveillance camera system is used to monitor gas that unexpectedly leaks from the gas refining plant into the atmosphere (hereinafter referred to as "leakage gas").
  • the surveillance camera system sets a mask on a part of the monitoring target (e.g., the area where the vent gas is released) and monitors the area where the mask is set by excluding it from the monitoring target.
  • a mask set is not limited to monitoring gas leaks in gas refining plants, but is used in various cases.
  • Patent Document 1 has the problem that the imaging angle of view (monitoring angle of view) may shift when operated for a long period of time, and in that case, the area to be excluded from monitoring may not match the area in which the mask is set.
  • the support function may deteriorate, and the position repeatability (i.e., the ability to direct the shooting direction of the surveillance camera toward the monitored object) may deteriorate. This may cause the shooting angle (monitoring angle) of the surveillance camera system to shift.
  • the orientation may change, for example, when the support part is exposed to a strong wind. This may cause the shooting angle (monitoring angle) of the surveillance camera system to shift.
  • the mask set in the surveillance camera system to exclude areas not suitable for monitoring from the monitored object shifts.
  • the surveillance camera system monitors areas not suitable for monitoring, and may mistakenly detect items not suitable for monitoring (e.g., vent gas) as items to be monitored (e.g., leaking gas), and may issue a false alarm (false report) to the monitor.
  • items not suitable for monitoring e.g., vent gas
  • a false alarm false report
  • the accuracy of the report may decrease.
  • the area that should be monitored is hidden by the misaligned mask, it may not be possible to detect the item that should be monitored, or it may take a long time to detect it. As a result, this may also reduce the accuracy of the alarm.
  • the present invention has been made in consideration of the problems with the conventional technology described above, and the object of the present invention is to provide a surveillance camera system, a mask correction method, and a program that can appropriately correct a mask even if the shooting angle of view (monitoring angle of view) is shifted.
  • a surveillance camera system including a surveillance camera and a control unit that performs processing based on an image captured by the surveillance camera, the control unit pre-recording a reference image captured at a preset shooting position and a mask corresponding to the reference image, calculating the amount of deviation of the captured image from the reference image based on the image captured by the surveillance camera and the reference image, and correcting the mask in accordance with the amount of deviation.
  • the surveillance camera includes a visible camera that captures visible images and an infrared camera that captures infrared images
  • the control unit prerecords a reference visible image at a shooting position corresponding to the visible image, a reference infrared image at a shooting position corresponding to the infrared image, and either or both of a visible mask corresponding to the reference visible image and an infrared mask corresponding to the reference infrared image, calculates a visible image shift amount from the captured visible image captured by the visible camera and the reference visible image, calculates an infrared image shift amount from the captured infrared image captured by the infrared camera and the reference infrared image, and performs either or both of a correction of the visible mask according to the visible image shift amount and a correction of the infrared mask according to the infrared image shift amount.
  • a surveillance camera system including a surveillance camera, a support unit having a pan-tilt mechanism, and a control unit that performs processing based on an image captured by the surveillance camera and controls the support unit, wherein the control unit pre-records a reference image captured at a previously set shooting position and a mask corresponding to the reference image for each of one or more preset positions, and when switching preset positions, calculates the amount of deviation of the captured image from the image captured by the surveillance camera and the reference image, controls the pan-tilt mechanism of the support unit in a direction that reduces the amount of deviation, and corrects the mask by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support unit.
  • the surveillance camera system further comprising: a visible camera for capturing visible images; and an infrared camera for capturing infrared images; and the control unit prerecords, for each of one or more preset positions, a reference visible image at a capture position corresponding to the visible image, a reference infrared image at a capture position corresponding to the infrared image, and either or both of a visible mask corresponding to the reference visible image and an infrared mask corresponding to the reference infrared image; when switching preset positions, calculates a visible image shift amount from the captured visible image captured by the visible camera and the reference visible image, and calculates an infrared image shift amount from the captured infrared image captured by the infrared camera and the reference infrared image; controls the pan-tilt mechanism of the support unit in a direction that reduces the shift amount based on the visible image shift amount and the infrared image shift amount; and corrects either or both of the visible mask and the infrare
  • control unit controls the pan-tilt mechanism of the support unit in a direction that reduces the amount of misalignment based on an average value of the amount of visible image misalignment and the amount of infrared image misalignment.
  • the surveillance camera system described in (4) above is characterized in that the control unit controls the pan-tilt mechanism of the support unit in a direction that reduces the amount of misalignment based on either the visible image misalignment amount or the infrared image misalignment amount, whichever is more reliable.
  • control unit controls the pan-tilt mechanism of the support unit in a direction to reduce the amount of shift based on the amount of visible image shift when the time period is a daytime period or the shooting position is brighter than a predetermined threshold, and controls the pan-tilt mechanism of the support unit in a direction to reduce the amount of shift based on the amount of infrared image shift when the time period is not sunny or the shooting position is darker than a predetermined threshold.
  • a mask correction method for correcting a mask corresponding to a reference image of a shooting position captured by a surveillance camera comprising: calculating an amount of deviation of the captured image from the reference image based on the captured image captured by the surveillance camera and the reference image; and correcting the mask according to the amount of deviation.
  • a program for causing a computer to correct a mask corresponding to a reference image of a shooting position captured by a surveillance camera the program causing the computer to calculate the amount of deviation of the captured image from the reference image based on the captured image captured by the surveillance camera and the reference image, and correct the mask according to the amount of deviation.
  • a mask correction method for correcting a mask corresponding to a reference image of a shooting position captured at one or more preset positions by a surveillance camera supported on a support part having a pan-tilt mechanism comprising the steps of: calculating, when switching preset positions, an amount of deviation of the captured image from the reference image based on the captured image captured by the surveillance camera and the reference image; controlling the pan-tilt mechanism of the support part in a direction that reduces the amount of deviation; and correcting the mask by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support part.
  • a program for causing a computer to correct a mask corresponding to a reference image of a shooting position captured at one or more preset positions by a surveillance camera supported on a support part having a pan-tilt mechanism the program causing the computer to calculate, when switching preset positions, an amount of deviation of the captured image from the reference image based on the captured image captured by the surveillance camera and the reference image, control the pan-tilt mechanism of the support part in a direction that reduces the amount of deviation, and correct the mask by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support part.
  • the mask can be appropriately corrected even if the shooting angle of view (monitoring angle of view) is shifted.
  • FIG. 1 is a block diagram of a surveillance camera system according to a first embodiment.
  • 1 is an external perspective view of a surveillance camera used in a surveillance camera system according to a first embodiment.
  • 5 is a flowchart showing a pre-operation of the surveillance camera system according to the first embodiment.
  • 5 is a flowchart showing an operation during monitoring of the surveillance camera system according to the first embodiment.
  • 1 is an explanatory diagram (1) of an operation during monitoring of the surveillance camera system according to the first embodiment;
  • FIG. FIG. 13 is an explanatory diagram (2) of the operation during monitoring of the surveillance camera system according to the first embodiment.
  • FIG. 11 is an explanatory diagram (3) of the operation during surveillance of the surveillance camera system according to the first embodiment.
  • FIG. 4 is an explanatory diagram (4) of the operation during monitoring of the surveillance camera system according to the first embodiment.
  • FIG. 5 is an explanatory diagram (5) of the operation during surveillance of the surveillance camera system according to the first embodiment.
  • FIG. 11 is a block diagram of a surveillance camera system according to a second embodiment. 10 is a flowchart showing an operation during monitoring of the surveillance camera system according to the second embodiment.
  • FIG. 11 is an explanatory diagram (1) of the operation during monitoring of the surveillance camera system according to the second embodiment.
  • FIG. 11 is an explanatory diagram (2) of the operation during monitoring of the surveillance camera system according to the second embodiment.
  • FIG. 11 is a block diagram of a surveillance camera system according to a third embodiment.
  • FIG. 13 is a flowchart showing a pre-operation of the surveillance camera system according to the third embodiment.
  • 13 is a flowchart showing an operation during monitoring of the surveillance camera system according to the third embodiment.
  • FIG. 11 is an explanatory diagram (1) of the operation during monitoring of the surveillance camera system according to the third embodiment.
  • FIG. 13 is an explanatory diagram (2) of the operation during monitoring of the surveillance camera system according to the third embodiment.
  • 13 is a flowchart showing the operation of a first modified example during monitoring of the monitoring camera system according to the third embodiment.
  • 13 is a flowchart showing the operation of a second modified example during monitoring of the monitoring camera system according to the third embodiment.
  • Fig. 1 is a block diagram of the surveillance camera system 100 according to the first embodiment.
  • Fig. 2 is an external perspective view of a surveillance camera 10 used in the surveillance camera system 100.
  • a gas refining plant is the subject of surveillance, and gas (leakage gas) that unexpectedly leaks from the gas refining plant into the atmosphere is monitored by the surveillance camera system 100.
  • the surveillance camera system 100 is not limited to such applications, and can be applied to surveillance of various things in various surveillance subjects.
  • the surveillance camera system 100 includes a surveillance camera 10, a control unit 20, and an output unit 30.
  • the surveillance camera 10 has a visible camera 11 that captures visible images.
  • the visible camera 11 has a lens 11a, a filter 11b, an image sensor 11c, and a signal processing unit 11d.
  • the lens 11a collects light onto the image sensor 11c while passing it through the filter 11b.
  • the filter 11b At that time, the filter 11b attenuates components with frequencies higher than the cutoff frequency and infrared rays.
  • the image sensor 11c converts the collected light into an electrical signal.
  • the signal processing unit 11d outputs the electrical signal to the control unit 20.
  • the visible camera 11 collects light onto the image sensor 11c via the lens 11a while attenuating components with frequencies higher than the cutoff frequency and infrared rays via the filter 11b, forms an image of the surroundings on the image sensor 11c, converts the light collected by the image sensor 11c into an electrical signal, and outputs the electrical signal to the control unit 20.
  • the surveillance camera 10 outputs a signal (hereinafter referred to as a "captured image signal”) representing the captured image (hereinafter referred to as a "captured image”) to the control unit 20.
  • the control unit 20 is composed of a server, a personal computer, or the like.
  • the control unit 20 includes a CPU (Central Processing Unit) (not shown) and a storage unit (not shown) such as a RAM (Random Access Memory) or a ROM (Read Only Memory).
  • the CPU executes a control program stored in the ROM using the RAM to realize the functions of the gas signal generating unit 21, the camera control unit 22, and the like.
  • the gas signal generating unit 21 is a component having a function of detecting leaked gas from an image captured by the surveillance camera 10 based on a captured image signal output from the surveillance camera 10, and a function of generating a signal indicating the presence of leaked gas (hereinafter referred to as a "gas signal") and outputting it to the output unit 30 when leaked gas is detected.
  • the gas signal is described as including the position of the leaked gas and an image of the leaked gas.
  • the gas signal generating unit 21 also has a function of outputting the captured image signal output from the surveillance camera 10 to the output unit 30.
  • the camera control unit 22 is a component that controls the operation of the surveillance camera 10.
  • the control unit 20 is described as having a gas signal generating unit 21.
  • the gas signal generating unit 21 can be changed to another component according to the purpose.
  • the output unit 30 is composed of a monitor that displays images and an alarm that issues an alarm to a monitor.
  • the output unit 30 displays the image captured by the surveillance camera 10 on the monitor based on the captured image signal output from the control unit 20.
  • the output unit 30 displays an image of the leaking gas on the monitor by overlaying it on the captured image based on the gas signal.
  • the output unit 30 also issues an alarm from the alarm based on the gas signal.
  • the image of the leaking gas is an image in which the leaking gas is highlighted by processing such as coloring to make the leaking gas easier to see.
  • FIG. 2 shows the appearance of the surveillance camera 10 used in the surveillance camera system 100.
  • the surveillance camera 10 is supported by a camera platform 13 (support).
  • the surveillance camera 10 may be attached directly to a building wall or a pillar without using the camera platform 13.
  • the camera platform 13 has a pan-tilt function, and can adjust the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • the operation when the pan-tilt function of the camera platform 13 is not used is described, and the operation when the pan-tilt function of the camera platform 13 is used is described in embodiment 2.
  • the surveillance camera 10 is configured to include a visible camera 11 and an infrared camera 12.
  • the operation when the infrared camera 12 is not used will be described.
  • the operation when the infrared camera 12 is used will be described in embodiment 3 and onwards.
  • the shooting magnification of the visible camera 11 will be described as being fixed.
  • the shooting magnification of the visible camera 11 may be made changeable.
  • the surveillance camera 10 can be configured to include only the visible camera 11 without the infrared camera 12.
  • the surveillance camera 10 can be configured to include only the infrared camera 12 without the visible camera 11.
  • Fig. 3 is a flowchart showing the pre-operation of the surveillance camera system 100.
  • Fig. 4 is a flowchart showing the operation of the surveillance camera system 100 during monitoring.
  • Figs. 5A to 5E are explanatory diagrams of the operation of the surveillance camera system 100 during monitoring, respectively.
  • the description will be made on the assumption that a deviation in the shooting angle of view (monitoring angle of view) occurs in the surveillance camera 10 supported by a fixed support unit without a pan-tilt function.
  • the processing shown in Figs. 3 and 4 will be described as being mainly performed by the camera control unit 22 (see Fig. 1) of the control unit 20.
  • the control unit 20 of the surveillance camera system 100 first registers the reference image 50 (see FIG. 5A) of the shooting position in the storage unit (not shown) as a preliminary operation (step S10).
  • the control unit 20 sets a mask 70 (see FIG. 5A) corresponding to the reference image 50 (see FIG. 5A) and registers information about the mask in the storage unit (not shown) (step S20).
  • the registration of the reference image 50 is performed in advance by the control unit 20 acquiring a captured image from the surveillance camera 10 and registering the captured image in the storage unit (not shown) as the reference image 50 of the shooting position.
  • the registration of the mask 70 (see FIG. 5A) is also performed in advance by the control unit 20 accepting settings of the shape, size, etc. of the mask 70 by a person (not shown) or by the control unit 20 spontaneously setting the shape, size, etc. of the mask 70 in advance.
  • FIG. 5A shows an example of the reference image 50 and mask 70 registered at this time.
  • a gas refining plant is set as the monitored object 40, and the area of the reference image 50 is set for the monitored object 40.
  • a mask 70 is set for the area of the monitored object 40 that is not to be monitored.
  • the surveillance camera system 100 starts monitoring leaked gas at the gas refining plant, which is the monitoring target 40.
  • the surveillance camera system 100 as a monitoring operation, first, the surveillance camera 10 captures an image corresponding to an area of the reference image 50 (step S110), and outputs a signal (captured image signal) representing the captured image (captured image) to the control unit 20.
  • the capture is performed periodically or irregularly at intervals.
  • FIG. 5B shows an example of the captured image 60 and mask 70 captured at this time.
  • the shooting direction of the surveillance camera 10 has shifted due to some factor, resulting in a shift in the shooting angle of view (monitoring angle of view) from the reference image position P50 to the captured image position P60.
  • the position of the mask 70 has shifted from mask position P70 to mask position P70a.
  • control unit 20 calculates the amount of deviation of the captured image 60 from the reference image 50 based on the reference image 50 registered in advance in step S10 of FIG. 3 and the captured image 60 captured in step S110 of FIG. 4 (step S120).
  • FIG. 5C shows an example of the calculation of the amount of deviation performed at this time.
  • the control unit 20 cuts out a template image 51 that serves as a positional reference for calculating the amount of deviation from the reference image 50, and matches the template image 51 with a corresponding area image 61 in the captured image 60 to calculate the captured image deviation amount D60.
  • the corresponding area image 61 means an image of a part included in the captured image 60 that corresponds to the template image 51.
  • the captured image deviation amount D60 means the amount of deviation of the captured image 60 from the reference image 50.
  • the control unit 20 corrects the mask 70 based on the captured image shift amount D60 (step S130).
  • the correction of the mask 70 is described as a process of shifting (moving) the mask position.
  • the correction of the mask 70 may be performed by changing (deforming) the shape of the mask 70 in addition to or instead of the process of shifting the mask position.
  • the control unit 20 may change (deform) the shape of the mask 70 to match the distortion of the object.
  • FIGS. 5D and 5E show an example of correction of the mask 70.
  • the control unit 20 corrects the position of the mask 70 by the captured image shift amount D60 in the direction from mask position P70a to mask position P70b (see arrow A11) so as to eliminate the shift in the position of the mask 70.
  • the control unit 20 moves the position of the mask 70 to mask position P70b.
  • step S140 the control unit 20 registers the captured image 60 in the storage unit (not shown) as the new reference image 50 (step S140).
  • the control unit 20 updates and registers the captured image 60 used to correct the mask 70 as the new reference image 50.
  • the processing of step S140 is not essential and may not be performed.
  • the control unit 20 sets the mask 70 on the area of the monitored object 40 that is to be excluded from monitoring in order to avoid false alarms, i.e., to prevent unnecessary alarms from being issued, for locations that constantly emit excess gas (including water vapor) (see Fig. 5A).
  • the surveillance camera system 100 starts monitoring the monitored object 40 (here, a gas refining plant). Then, after a while, if the shooting direction of the surveillance camera 10 shifts due to some factor (see FIG. 5B), the control unit 20 calculates the captured image shift amount D60 in step S120 of FIG. 4 (see FIG. 5C).
  • the captured image shift amount D60 is calculated, for example, by a template matching method. However, the calculation of the captured image shift amount D60 is not limited to the template matching method, and may be a method that uses a general image alignment algorithm such as corresponding point search or RIPOC.
  • step S130 of FIG. 4 the control unit 20 moves the mask 70 by +23 pixels in the X direction and +13 pixels in the Y direction by performing image processing on the captured image 60 in order to eliminate the position shift of the mask 70 (see FIGS. 5D and 5E). Note that if a tilt occurs in the rotational direction based on the optical axis of the surveillance camera 10, the mask 70 may be rotated to match the tilt by performing image processing on the captured image 60.
  • the surveillance camera system 100 monitors the target using both the visible camera 11 and the infrared camera 12, it also processes the infrared image in the same way as the visible image. That is, in this case, the surveillance camera system 100 pre-records in a storage unit (not shown) a reference infrared image of the shooting position corresponding to the infrared image and an infrared mask corresponding to the reference infrared image. The surveillance camera system 100 then calculates the amount of infrared image shift from the infrared image captured by the infrared camera 12 and the reference infrared image, and corrects the infrared mask according to the amount of infrared image shift.
  • a surveillance camera system 100 includes a surveillance camera 10 and a control unit 20 that performs processing based on a captured image 60 captured by the surveillance camera 10.
  • the control unit 20 records in advance in a storage unit (not shown) a reference image 50 captured at a preset shooting position and a mask 70 corresponding to the reference image 50, calculates the amount of deviation (captured image deviation amount D60) of the captured image 60 relative to the reference image 50 from the captured image 60 captured by the surveillance camera 10 and the reference image 50, and corrects the mask 70 according to the amount of deviation.
  • the surveillance camera system 100 can appropriately correct the mask 70 set on the surveillance object even if the shooting angle of view (surveillance angle of view) is shifted.
  • the mask correction method according to this embodiment 1 is a mask correction method for correcting a mask 70 corresponding to a reference image 50 at a shooting position captured by a surveillance camera 10, and calculates the amount of deviation of the captured image 60 from the reference image 50 (captured image deviation amount D60) from the captured image 60 captured by the surveillance camera 10 and the reference image 50, and corrects the mask 70 according to the amount of deviation.
  • the above mask correction method can be realized by the following program. That is, the program according to this embodiment 1 is a program for causing a computer (control unit 20 in this embodiment) to correct a mask 70 corresponding to a reference image 50 at a shooting position captured by a surveillance camera 10, and causes the computer to calculate the amount of shift of the captured image 60 from the reference image 50 (captured image shift amount D60) based on the captured image 60 captured by the surveillance camera 10 and the reference image 50, and correct the mask 70 according to the amount of shift.
  • the program according to this embodiment 1 is a program for causing a computer (control unit 20 in this embodiment) to correct a mask 70 corresponding to a reference image 50 at a shooting position captured by a surveillance camera 10, and causes the computer to calculate the amount of shift of the captured image 60 from the reference image 50 (captured image shift amount D60) based on the captured image 60 captured by the surveillance camera 10 and the reference image 50, and correct the mask 70 according to the amount of shift.
  • the surveillance camera system 100 (see FIG. 1) according to the first embodiment described above is configured to correct the mask 70 only by image processing when the surveillance camera 10 is supported by a fixed support section that does not have a pan-tilt function.
  • the second embodiment provides a surveillance camera system 100A in which the surveillance camera 10 is supported by a support section (platform head 13) that has a pan-tilt function, and the mask 70 is corrected using the pan-tilt function of the support section (platform head 13) and image processing.
  • FIG. 6 is a block diagram of the surveillance camera system 100A according to the second embodiment.
  • a surveillance camera system 100A according to the second embodiment differs from the surveillance camera system 100 according to the first embodiment (see FIG. 1) in the following points.
  • (1) Equipped with a camera platform 13 having a pan-tilt function.
  • the control unit 20 has a camera control unit 22 a instead of the camera control unit 22 .
  • the control unit 20 has a camera platform drive control unit 23 .
  • the tripod head 13 is a support that supports the surveillance camera 10.
  • the tripod head 13 has a pan-tilt function and can adjust the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • the tripod head 13 has a motor 13a, an encoder 13b, and a signal processing unit 13c.
  • the motor 13a is a drive source that drives the encoder 13b.
  • the encoder 13b is a means for changing the shooting direction (orientation) of the surveillance camera 10 and adjusts the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • the motor 13a and the encoder 13b constitute a pan-tilt mechanism.
  • the signal processing unit 13c is a component that transmits and receives signals to and from the control unit 20, drives the pan-tilt mechanism (motor 13a and encoder 13b) based on a control signal from the control unit 20, and notifies the control unit 20 that it has been driven.
  • the camera control unit 22a differs from the camera control unit 22 (see FIG. 1) in that it performs a "mask correction” process (step S130 in FIG. 7) after the "head drive” process (step S125 in FIG. 7).
  • the tripod head drive control unit 23 is a component that controls the drive of the tripod head 13.
  • the tripod head drive control unit 23 drives the tripod head 13 to roughly adjust the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • the camera control unit 22a finely corrects the mask 70 to eliminate the amount of misalignment that cannot be fully adjusted by the adjustment by the tripod head drive control unit 23.
  • the surveillance camera system 100A can also correct the mask 70 by the camera control unit 22a without driving the tripod head 13 by the tripod head drive control unit 23. In this case, the operation of the surveillance camera system 100A is the same as that of the surveillance camera system 100 according to the first embodiment described above.
  • Figure 7 is a flowchart showing the operation of the surveillance camera system 100A during surveillance.
  • Figures 8 and 9 are each explanatory diagrams of the operation of the surveillance camera system 100A during surveillance.
  • the operation of the surveillance camera system 100A according to this embodiment 2 differs from the operation of the surveillance camera system 100 according to the embodiment 1 (see FIG. 4) in that during surveillance, a "camera head drive” process (step S125) is executed between the "shift amount calculation” process (step S120) and the “mask correction” process (step S130).
  • one or more shooting positions are preset in the control unit 20 in advance by a person who sets up the system (not shown). This allows the surveillance camera system 100A to monitor multiple monitoring targets.
  • a reference image 50 is registered in the control unit 20 for each preset position in advance by the operation of the person who sets up the system (not shown) or by a function of the control unit 20.
  • the control unit 20 of the surveillance camera system 100A starts monitoring the monitoring target 40 (here, a gas refining plant), it executes the pan-tilt function of the camera platform 13 to change the shooting direction (orientation) of the surveillance camera 10 in sequence and switch between preset positions.
  • the surveillance camera system 100A captures an image with the surveillance camera 10 (step S110).
  • the control unit 20 calculates the amount of deviation (captured image deviation D60 (see FIG. 5C)) from the captured image 60 captured by the surveillance camera 10 and the reference image 50 (step S120).
  • the control unit 20 controls the driving of the camera platform 13 to eliminate the amount of deviation (step S125), and roughly adjusts the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • the control unit 20 finely corrects the mask 70 to eliminate the amount of deviation remaining due to the driving of the camera platform 13 (step S130).
  • control unit 20 registers the captured image 60 as a new reference image 50 in the storage unit (not shown) (step S140).
  • the position where the deviation is eliminated may also be registered as a new preset position. Additionally, the amount of deviation calculated at a particular preset position may be used for processing at other preset positions.
  • the control unit 20 of the surveillance camera system 100A according to the second embodiment sets the mask 70 on the monitored object 40 in order to avoid the occurrence of false alarms in areas that constantly emit some excess gas (including water vapor) (see FIG. 5A).
  • the surveillance camera system 100A starts monitoring the monitored object 40 (here, a gas refining plant). Then, after a while, if the shooting direction of the surveillance camera 10 shifts due to some factor (see FIG. 5B), the control unit 20 calculates the captured image shift amount D60 in step S120 of FIG. 7 (see FIG. 5C).
  • the captured image shift amount D60 is calculated, for example, by a template matching method.
  • an image shift amount D60 (see FIG. 5C) of -23 pixels in the X direction and -13 pixels in the Y direction occurs for an image size of 640 pixels in the X direction and 512 pixels in the Y direction.
  • the position of the mask 70 shifts from the reference image 50 by the image shift amount D60 (see FIG. 5C).
  • the control unit 20 drives and controls the pan head 13 according to the shift amount to roughly adjust the shooting angle of the surveillance camera 10 (monitoring angle of view).
  • the resolution of the pan head 13 is equivalent to 10 pixels.
  • the control unit 20 controls the pan head 13 to move the shooting direction of the surveillance camera 10 by +23 pixels in the X direction and +13 pixels in the Y direction.
  • the surveillance camera system 100A can only move the shooting direction of the surveillance camera 10 by +20 pixels in the X direction and +10 pixels in the Y direction. Therefore, in this case, after driving the pan head 13, a captured image shift amount D60 (see FIG. 5B) of -3 pixels in the X direction and -3 pixels in the Y direction remains.
  • Figure 8 shows the state of the captured image that changes due to the control of the camera-to-camera head 13.
  • Figure 8 shows a comparison of the position of the template image 51 of the reference image 50, the position of the corresponding area image 61a of the captured image 60a captured before the camera-to-camera head 13 was driven, and the position of the corresponding area image 61b of the captured image 60b captured after the camera-to-camera head 13 was driven.
  • the corresponding area image 61a of the captured image 60a captured before the camera-to-camera head 13 was driven is shifted by -23 pixels in the X direction and -13 pixels in the Y direction with respect to the template image 51 of the reference image 50.
  • the corresponding area image 61b of the captured image 60b captured after the camera-to-camera head 13 was driven has a smaller shift from the template image 51 of the reference image 50 than the corresponding area image 61a of the captured image 60a, but still has a shift of -3 pixels in the X direction and -3 pixels in the Y direction.
  • the mask 70 is displaced from the reference image 50 by an amount that cannot be completely corrected by the pan-tilt mechanism (motor 13a and encoder 13b) of the camera head 13.
  • step S130 of FIG. 7 in order to eliminate the remaining misalignment that cannot be corrected by the pan-tilt mechanism (motor 13a and encoder 13b) of the camera head 13, that is, to eliminate the remaining misalignment in the shooting direction of the surveillance camera 10, the control unit 20 corrects the mask 70 by performing image processing on the captured image 60b so as to eliminate the remaining misalignment.
  • Figure 9 shows the state of the mask 70 moving due to driving the pan head 13 and image processing of the captured image 60b.
  • the control unit 20 corrects the position of the mask 70 from mask position P70a to mask position P71b (see arrow A21) by driving the pan head 13. Then, the control unit 20 corrects the position of the mask 70 from mask position P71b to mask position P71c (see arrow A22) by image processing of the captured image 60b (see Figure 8).
  • the control unit 20 of the surveillance camera system 100A according to the second embodiment pre-records a reference image 50 captured at a previously set shooting position for each of one or more preset positions and a mask 70 corresponding to the reference image 50. After that, the control unit 20 calculates the amount of deviation of the captured image 60 from the reference image 50 (captured image deviation amount D60 (see FIG. 5C )) from the captured image 60 captured by the surveillance camera 10 when switching the preset position and the reference image 50.
  • control unit 20 controls the pan-tilt mechanism (motor 13a and encoder 13b) of the support unit (platform 13) in a direction that reduces the amount of deviation, and corrects the mask 70 by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support unit.
  • Such a surveillance camera system 100A according to the second embodiment controls the pan-tilt mechanism (motor 13a and encoder 13b) of the support section (platform head 13) to roughly adjust the shooting angle of view (monitoring angle of view) of the surveillance camera 10, and corrects the mask 70 by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support section.
  • the surveillance camera system 100A according to the second embodiment can appropriately correct the mask 70 set for the monitored object even if the shooting angle of view (monitoring angle of view) is shifted.
  • the surveillance camera system 100A according to the second embodiment can minimize the effects of distortion of the captured image 60 by moving the platform 13 before moving the mask position.
  • the mask correction method according to this embodiment 2 is a mask correction method for correcting a mask corresponding to a reference image of a shooting position captured for each of one or more preset positions by a surveillance camera 10 supported by a support section (platform 13) having a pan-tilt mechanism (motor 13a and encoder 13b).
  • the mask correction method according to this embodiment 2 calculates the amount of deviation of the captured image 60 from the reference image 50 (captured image deviation amount D60 (see FIG. 5C)) from the captured image 60 captured by the surveillance camera 10 when switching the preset position and the reference image 50.
  • control unit 20 controls the pan-tilt mechanism (motor 13a and encoder 13b) of the support section (platform 13) in a direction that reduces the amount of deviation, and corrects the mask 70 by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support section.
  • the above mask correction method can be realized by the following program. That is, the program according to this embodiment 2 is a program for causing a computer (control unit 20) to correct a mask corresponding to a reference image of a shooting position captured at one or more preset positions by a surveillance camera 10 supported by a support unit (platform 13) having a pan-tilt mechanism (motor 13a and encoder 13b).
  • the program according to this embodiment 2 causes the computer to calculate the amount of deviation of the captured image 60 from the reference image 50 (captured image deviation amount D60 (see FIG. 5C)) from the captured image 60 captured by the surveillance camera 10 when switching the preset position and the reference image 50.
  • the program according to this embodiment 2 causes the computer (control unit 20) to control the pan-tilt mechanism (motor 13a and encoder 13b) of the support unit (platform 13) in a direction that reduces the amount of deviation, and corrects the mask 70 by the remaining amount of deviation that cannot be corrected by the pan-tilt mechanism of the support unit.
  • the surveillance camera system 100A (see FIG. 6 ) according to the second embodiment described above is configured to correct the mask 70 using the captured visible image 60S captured by the visible camera 11.
  • the third embodiment provides a surveillance camera system 100B that corrects the mask 70 using not only the captured visible image 60S captured by the visible camera 11 but also the captured infrared image 60R captured by the infrared camera 12.
  • FIG. 10 is a block diagram of the surveillance camera system 100B according to the third embodiment.
  • the surveillance camera system 100B according to the third embodiment differs from the surveillance camera system 100A according to the second embodiment (see FIG. 6) in the following points.
  • the surveillance camera 10 is equipped with an infrared camera 12.
  • the control unit 20 has a camera control unit 22b instead of the camera control unit 22a.
  • the surveillance camera 10 has an infrared camera 12 that captures infrared images.
  • the infrared camera 12 has a lens 12a, a filter 12b, an image sensor 12c, and a signal processing unit 12d.
  • the lens 12a collects light onto the image sensor 12c while passing it through the filter 12b.
  • the filter 12b At that time, the filter 12b attenuates light other than infrared light.
  • the image sensor 12c converts the collected light into an electrical signal.
  • the signal processing unit 12d outputs the electrical signal to the control unit 20.
  • the control unit 20 attenuates light other than infrared light with the filter 12b, collects light onto the image sensor 12c with the lens 12a, forms an image of the surroundings on the image sensor 12c, converts the light collected by the image sensor 12c into an electrical signal, and outputs the electrical signal to the control unit 20.
  • the surveillance camera 10 outputs a signal (hereinafter referred to as a "captured infrared image signal") representing the captured infrared image (hereinafter referred to as a “captured infrared image”) to the control unit 20.
  • Figure 11A is a flowchart showing the pre-operation of the surveillance camera system 100B.
  • Figure 11B is a flowchart showing the operation of the surveillance camera system 100B during surveillance.
  • Figures 12 and 13 are each explanatory diagrams of the operation of the surveillance camera system 100B during surveillance.
  • the control unit 20 of the surveillance camera system 100B first registers the respective reference images of the visible and infrared (reference visible image 50S (see FIG. 12) and reference infrared image 50R (see FIG. 13)) in the storage unit (not shown) for each preset position as a preliminary operation (step S10a).
  • the control unit 20 registers information on the masks 70S, 70R (not shown) corresponding to the respective reference images of the visible and infrared for each preset position in the storage unit (not shown) (step S20).
  • surveillance camera system 100B as an operation during surveillance, first, for each preset position, that is, each time the preset position is switched, a visible image (captured visible image 60S (see Figure 12)) and an infrared image (captured infrared image 60R (see Figure 13)) are captured at each preset position (step S110a). Then, surveillance camera 10 outputs a signal (captured visible image signal) representing captured visible image 60S (see Figure 12) and a signal (captured visible image signal) representing captured infrared image 60R (see Figure 13) to control unit 20.
  • control unit 20 calculates the amount of deviation between the captured images (captured visible image 60S (see FIG. 12) and captured infrared image 60R (see FIG. 13)) and the respective reference images (reference visible image 50S (see FIG. 12) and reference infrared image 50R (see FIG. 13)) (step S120a).
  • FIG. 12 shows an example of the calculation of the amount of shift (captured visible image shift amount D60S) of the captured image (captured visible image 60S) relative to the visible reference image (reference visible image 50S) performed at this time.
  • FIG. 13 shows an example of the calculation of the amount of shift (captured infrared image shift amount D60R) of the captured image (captured infrared image 60R) relative to the infrared reference image (reference infrared image 50R) performed at this time.
  • the control unit 20 cuts out a template image 51S that serves as a positional reference for calculating the amount of deviation from the reference visible image 50S, matches the template image 51S with a corresponding area image 61S in the captured visible image 60S, and calculates the amount of deviation (captured visible image deviation amount D60S).
  • the control unit 20 cuts out a template image 51R that serves as a positional reference for calculating the amount of deviation from the reference infrared image 50R, and matches the template image 51R with a corresponding area image 61R in the captured infrared image 60R to calculate the amount of deviation (captured infrared image deviation amount D60R).
  • control unit 20 calculates the average value of the shift between visible and infrared (the captured visible image shift amount D60S (see FIG. 12) and the captured infrared image shift amount D60R (see FIG. 13)), and uses the calculated average value of the shift between visible and infrared as an index of the drive amount of the camera platform 13 (step S121a).
  • the control unit 20 controls the driving of the pan head 13 by an amount sufficient to eliminate the calculated average amount of deviation between visible and infrared (step S125), and roughly adjusts the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • step S125 the control unit 20 finely corrects the masks 70S and 70R (not shown) for the visible and infrared rays so as to eliminate the amount of deviation remaining from the driving of the pan head 13 (step S130).
  • the control unit 20 registers the captured visible and infrared images (captured visible image 60S (see FIG. 12) and captured infrared image 60R (see FIG. 13)) in the storage unit (not shown) as new reference images for the visible and infrared rays (reference visible image 50S (see FIG. 12) and reference infrared image 50R (see FIG. 13)) (step S140a).
  • the control unit 20 calculates a value of -23 pixels in the X direction and -13 pixels in the Y direction as the average value of the visible and infrared misalignment (captured visible image misalignment D60S (see FIG. 12) and captured infrared image misalignment D60R (see FIG. 13)).
  • the control unit 20 then drives and controls the pan head 13 to eliminate the calculated average value of the visible and infrared misalignment, and roughly adjusts the shooting angle of view (monitoring angle of view) of the surveillance camera 10. After this, the control unit 20 finely corrects the visible and infrared masks 70S, 70R (not shown) to eliminate any misalignment remaining from the drive of the pan head 13.
  • the control unit 20 of the surveillance camera system 100B according to the third embodiment pre-records, for each of one or more preset positions, a reference visible image 50S at a shooting position corresponding to a visible image, a reference infrared image 50R at a shooting position corresponding to an infrared image, and either or both of a visible mask (mask 70S (not shown)) corresponding to the reference visible image 50S and an infrared mask (mask 70R (not shown)) corresponding to the reference infrared image 50R.
  • control unit 20 calculates a captured visible image shift amount D60S from the captured visible image 60S and the reference visible image 50S captured by the visible camera 11, and calculates a captured infrared image shift amount D60R from the captured infrared image 60R and the reference infrared image 50R captured by the infrared camera 12.
  • the control unit 20 controls the pan-tilt mechanism (motor 13a and encoder 13b) of the support unit (head 13) in the direction to reduce the shift amount, and corrects either the visible mask (mask 70S (not shown)) or the infrared mask (mask 70R (not shown)) for the remaining shift amount that cannot be completely corrected by the pan-tilt mechanism of the support unit, or both.
  • the surveillance camera system 100B according to the third embodiment can appropriately correct either or both of the masks 70S, 70R (not shown) set on the monitored object even if the shooting angle of view (monitoring angle of view) is shifted.
  • the surveillance camera system 100B according to the third embodiment uses not only the captured visible image 60S but also the captured infrared image 60R to correct either or both of the masks 70S, 70R (not shown).
  • the surveillance camera system 100B according to the third embodiment can improve the calculation accuracy because it uses values acquired by multiple cameras to calculate the amount of shift.
  • the present invention is not necessarily limited to having all of the components described.
  • the present invention allows for certain components to be added to other components, or for some components to be changed to other components.
  • the present invention allows for some components to be deleted.
  • FIG. 14 is a flowchart showing the operation of the first modified example during monitoring by the surveillance camera system 100B according to the third embodiment.
  • the first modified example differs from the process shown in FIG. 11B in the following respects.
  • (1) The processing of step S105 is performed before step S110a.
  • Step S121b is performed instead of step S121a.
  • the control unit 20 of the surveillance camera system 100B determines, in step S105 before step S110a, which of the captured visible image 60S and the captured infrared image 60R to use in calculating the amount of deviation based on the time of day, etc.
  • the time of shooting is daytime (however, this may also be the case when the brightness of the subject being shot is equal to or higher than an arbitrarily set threshold)
  • the captured visible image 60S is described as an image with a high reliability (similarity).
  • step S105 when the time of shooting is nighttime (however, this may also be the case when the brightness of the subject being shot is lower than an arbitrarily set threshold), the captured infrared image 60R is described as an image with a high reliability (similarity). Therefore, in step S105, when the time of shooting is daytime, the control unit 20 determines the captured visible image 60S, which is an image with a high reliability (similarity), as the image to use in calculating the amount of deviation. Furthermore, if the image was captured during the nighttime hours, the control unit 20 determines that the captured infrared image 60R, which is an image with a high degree of reliability (similarity), is the image to be used to calculate the amount of misalignment.
  • step S121b the control unit 20 of the surveillance camera system 100B adopts the displacement amount of the highly reliable image as an index of the driving amount of the camera platform 13 based on the decision made in step S105.
  • the control unit 20 adopts the displacement amount of the captured visible image 60S shown in FIG. 12 (captured visible image displacement amount D60S) as an index of the driving amount of the camera platform 13.
  • the control unit 20 adopts the displacement amount of the captured infrared image 60R shown in FIG. 13 (captured infrared image displacement amount D60R) as an index of the driving amount of the camera platform 13.
  • step S125 the control unit 20 drives and controls the pan head 13 to eliminate the shooting visible image shift amount D60S (see FIG. 12), thereby roughly adjusting the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • step S130 the control unit 20 finely corrects the visible mask 70S (not shown) to eliminate the amount of shift remaining after driving the pan head 13.
  • step S125 the control unit 20 drives and controls the pan head 13 to eliminate the shooting infrared image shift amount D60R (see FIG. 13), thereby roughly adjusting the shooting angle of view (monitoring angle of view) of the surveillance camera 10.
  • step S130 the control unit 20 finely corrects the infrared mask 70R (not shown) to eliminate the amount of shift remaining after driving the pan head 13.
  • the amount of misalignment calculated from the visible image or the amount of misalignment calculated from the infrared image, whichever has the higher reliability is used.
  • the reliability indicates how closely the captured image matches the reference image.
  • the result calculated from the visible image is a misalignment of -22 pixels in the X direction and -14 pixels in the Y direction, with a reliability of 0.7.
  • the result calculated from the infrared image is a misalignment of -24 pixels in the X direction and -12 pixels in the Y direction, with a reliability of 0.9.
  • the amount of misalignment calculated from the infrared image with a reliability of 0.9 is used.
  • the first variant uses highly reliable values to calculate the amount of deviation, making it possible to reduce the effects of disturbances such as reflections and passersby.
  • Fig. 15 is a flowchart showing the operation of a second modified example during monitoring by the surveillance camera system 100B according to the third embodiment.
  • the second modified example differs from the process shown in FIG. 11B in the following respects.
  • the process of step S105 is performed before step S110a.
  • the same process as that of the surveillance camera system 100A according to the second embodiment shown in FIG. 7 is performed.
  • the amount of deviation calculated from the visible image or the amount of deviation calculated from the infrared image is switched depending on the time of day. For example, the amount of deviation calculated from the visible image is used from 06:00 to 18:00, and the amount of deviation calculated from the infrared image is used from 18:00 to 06:00. Time periods can be monitored using a timer (not shown). Also, instead of time periods, the image used to calculate the amount of deviation can be changed to either the visible image or the infrared image depending on the brightness (illuminance) of the shooting position.
  • the second variant can improve calculation accuracy by using visible images during the day when there is sufficient visible light, and infrared images at night when there is a shortage of visible light.

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005135014A (ja) * 2003-10-28 2005-05-26 Hitachi Kokusai Electric Inc 物体検出装置
WO2009050906A1 (ja) * 2007-10-17 2009-04-23 Hitachi Kokusai Electric Inc. 物体検知装置
WO2019171777A1 (ja) * 2018-03-08 2019-09-12 コニカミノルタ株式会社 プラント監視システムのシミュレーション装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005135014A (ja) * 2003-10-28 2005-05-26 Hitachi Kokusai Electric Inc 物体検出装置
WO2009050906A1 (ja) * 2007-10-17 2009-04-23 Hitachi Kokusai Electric Inc. 物体検知装置
WO2019171777A1 (ja) * 2018-03-08 2019-09-12 コニカミノルタ株式会社 プラント監視システムのシミュレーション装置

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