Imaging apparatus, tracking system, control method for imaging apparatus, and program

Abstract

To mitigate a burden on a user by making interception and resumption of tracking of a subject efficient.SOLUTION: An imaging apparatus includes: drive control means for identifying a position of a subject on the basis of a direction of a radio wave received from a radio device possessed by the subject and performing control of an imaging direction and control of an imaging angle of view for tracking and imaging the subject when the identified position of the subject is in a tracking execution region; tracking interruption determination means for determining whether or not to intercept the tracking when the identified position of the subject is in the tracking execution region, on the basis of movement of the subject; and tracking resumption determination means for determining whether or not to resume the tracking on the basis of the movement of the subject when the identified position of the subject is in a resumption determination region. The drive control means intercepts the control of the imaging apparatus for tracking the subject when it is determined to intercept the tracking, and resumes the control of the imaging apparatus for tracking the subject when it is determined to resume the tracking.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to improving the efficiency of restarting and interrupting the tracking of a subject by an imaging device.

Background Art

[0002] Conventionally, network cameras capable of pan-tilt-zoom control are known. Some of these network cameras are equipped with a function (automatic tracking) to automatically control the imaging direction so as to continuously capture a subject within the screen. For specifying the position of a person as a subject for automatic tracking of the person, video analysis such as human body detection is generally often used. However, in scenes with drastic lighting changes or scenes with drastic movement of the subject, the tracking of the subject may become unstable. In recent years, for more accurate specification of the position of the subject, attention has been paid to a function capable of detecting the flying direction of radio waves added in version 5.1 of the wireless communication standard Bluetooth (registered trademark). By mounting a wireless communication module having such a function on both the camera and the wireless device and specifying the direction of the radio waves generated from the wireless device with the camera, the position of the wireless device can be specified. Then, by having the wireless device be held by the subject to be tracked in advance, the camera can specify the position of the subject.

[0003] When tracking a subject using video analysis in an environment where there is a front and a back, such as a concert or a theater stage, when the subject moves from the front to the back of the stage, it becomes difficult to continuously capture the subject within the screen. Also, when the subject appears from the back to the front of the stage after a while, in order to restart the tracking of the subject, the following procedures need to be followed. (1) Adjust the angle of view so that the subject can be within the range where video analysis is possible. (2) Search for the subject within the screen by video analysis and restart the tracking. Thus, when tracking a subject using video analysis, a step-by-step process is required to restart the tracking of the subject, which takes time for re-tracking and places a burden on the user who adjusts the angle of view.

[0004] On the other hand, when tracking a subject using wireless communication in an environment where there is a front and a back, such as a stage, if the direction of the radio waves generated from the wireless device can be specified by the camera when the subject moves from the back to the front of the stage, the tracking can be resumed without any burden on the user. However, when tracking a subject using wireless communication, if the subject moves from the front to the back of the stage, the user needs to interrupt the tracking because the shooting will continue while tracking the subject existing behind the stage, which imposes a burden on the user.

[0005] Various studies have been conducted to reduce the burden on the user in subject tracking. Patent Document 1 discloses a shooting system that calculates the position and distance from a shooting device based on a positioning signal received from a transmitter held by a subject, sets the direction and magnification, and expands the scan range when the subject is not within the scan range. Patent Document 2 discloses a technique for estimating the current position and determining whether to continue tracking when an object cannot be detected while tracking an object within a monitoring area using a laser sensor.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, the technique of Patent Document 1 is only effective when the subject is within the angle of view, and when the subject is outside the shooting range, such as when the subject is behind the stage, it will perform unnecessary pan-tilt-zoom control. Also, in the technique of Patent Document 2, the longer the time when the object cannot be detected, the greater the possibility that the position estimation will deviate significantly, and the accuracy of determining whether the object is within the monitoring area or outside the monitoring area will decrease.

[0008] The present invention aims to streamline the interruption and resumption of subject tracking and reduce the burden on the user.

Means for Solving the Problems

[0009] To solve the above problems, an imaging device according to the present invention includes a tracking execution area for tracking a subject to be tracked and performing imaging, an interruption determination area for determining the interruption of tracking of the subject, a resumption determination area for determining the resumption of tracking of the subject, a setting means for setting these areas, a first specifying means for detecting the subject by performing video analysis on image data obtained by an imaging unit of the imaging device and specifying the position of the subject in the image data, a second specifying means for specifying the relative position of the subject with respect to the imaging device based on the direction of radio waves received from a wireless device possessed by the subject, a drive control means for controlling the imaging direction and the imaging angle of view based on the position of the subject in order to track and photograph the subject when the position of the subject specified by the second specifying means is in the tracking execution area, a tracking interruption determination means for determining whether to interrupt the tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is in the interruption determination area, and a tracking resumption determination means for determining whether to resume the tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is in the resumption determination area. When the tracking interruption determination means determines to interrupt the tracking of the subject, the drive control means interrupts the control of the imaging device for tracking the subject, and when the tracking resumption determination means determines to resume the tracking of the subject, the drive control means resumes the control of the imaging device for tracking the subject.

Advantages of the Invention

[0010] According to the present invention, it is possible to streamline the interruption and resumption of subject tracking and reduce the burden on the user.

Brief Description of the Drawings

[0011]

Figure 1

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Figure 11

Mode for Carrying Out the Invention

[0012] (Example 1) FIG. 1 is a diagram showing an example of the configuration of a following system that follows and photographs a subject. The following system automatically controls the imaging direction of the imaging device so as to continuously capture the subject within the screen. For following the subject by the imaging device in the following system of this embodiment, image analysis and wireless communication are used. The following system includes a network camera 101 that is an imaging device, a wireless device 103 equipped on the subject, and a network 106 that communicably connects the network camera 101 and the wireless device 103. Further, the following system may include an information terminal 102 that is an information processing device and a network 105 that communicably connects the network camera 101 and the information terminal 102.

[0013] The network camera 101 is an imaging device capable of video distribution and camera control via a wired or wireless network. The network camera 101 has a pan-tilt mechanism (pan mechanism and tilt mechanism) that rotationally drives the imaging direction of the imaging unit in the horizontal and vertical directions. Further, the network camera 101 has a zoom lens for adjusting the angle of view. In this embodiment, a case where the network camera 101 automatically tracks and photographs the subject 104 will be described as an example.

[0014] The wireless device 103 has a built-in wireless communication module and communicates with the network camera 101 via the network 106. The wireless device 103 incorporates, for example, a wireless communication module compliant with the direction detection function of the 5.1 specification of Bluetooth (registered trademark). In this embodiment, in order for the network camera 101 to automatically track the subject 104, the wireless device 103 is carried by the subject 104. The network camera 101 can specify the relative position of the subject 104 carrying the wireless device 103 with respect to the network camera 101 based on the direction of the radio wave received from the wireless device 103. That is, by the network camera 101 receiving the radio wave generated from the wireless device 103, the relative position of the subject 104 carrying the wireless device 103 with respect to the network camera 101 can be specified.

[0015] The network 106 is a wireless network that connects the network camera 101 and the wireless device 103 and enables mutual communication. The network 106 enables mutual communication between the network camera 101 and the wireless device 103 in accordance with wireless communication standards such as Bluetooth (registered trademark), UWB (Ultra Wide Band), and Z-Wave (registered trademark). In this embodiment, the communication form of the network 106 is set to wireless because there are few restrictions on the movement of the subject and it is easy to actually use, but implementation by wire is also possible.

[0016] The information terminal 102 is an information processing device that controls the network camera 101, inputs information to the network camera 101, and outputs information from the network camera 101. The information terminal 102 communicates with the network camera 101 via, for example, a web browser. The information terminal 102 is connected to the network camera 101 via the network 105. The network 105 is a wired network for connecting the network camera 101 and the information terminal 102. Note that in this embodiment, the communication mode of the network 105 is wired, but wireless implementation is also possible.

[0017] Next, the configuration of the network camera 101 will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of the configuration of the network camera 101. The network camera 101 includes an imaging unit 201, a lens control unit 202, a drive unit 203, an A / D conversion unit 204, a camera signal processing unit 205, a video analysis unit 206, a wired communication processing unit 207, a wireless communication processing unit 208, a storage unit 209, and a CPU 210.

[0018] The imaging unit 201 includes an imaging optical system and an image sensor. The imaging optical system adjusts the magnification, focus position, light amount, etc. of the optical image reaching the image sensor, and forms an optical image on the image sensor. The imaging optical system includes a plurality of lenses including a zoom lens and a focus lens, and a diaphragm. The zoom lens and the focus lens move on the optical axis in response to the drive control by the lens control unit 202. The diaphragm operates by the lens control unit 202 to adjust the amount of light passing through the imaging optical system. The image sensor is an imaging means that converts the light passing through the imaging optical system into an electrical signal by photoelectric conversion. The electrical signal output from the image sensor is amplified by an amplifier and input to the A / D conversion unit 204.

[0019] The lens control unit 202 controls the driving of a plurality of lenses of the imaging optical system. By controlling the zoom lens, the lens control unit 202 adjusts the angle of view and the magnification of the optical image (subject image). By controlling the focus lens, the lens control unit 202 adjusts the focus position. The A / D conversion unit 204 converts the electrical signal acquired from the imaging unit 201 into a digital signal and outputs it to the camera signal processing unit 205. The camera signal processing unit 205 performs various image processes on the digital signal to generate a video signal. Here, the various image processes are, for example, defect correction, chromatic aberration correction, gamma processing, noise reduction processing, and the like.

[0020] The drive unit 203 controls the driving for rotating the imaging unit 201 in the horizontal and vertical directions. The drive unit 203 includes a pan drive unit and a tilt drive unit. The drive unit 203 controls the driving of the imaging unit 201 via, for example, an actuator. The video analysis unit 206 analyzes the video to perform various detection processes. The video analysis unit 206 performs human body detection and face detection as video analysis unit processes for specifying the position of the subject 104. The wired communication processing unit 207 performs network communication processing with the information terminal 102 via the network 👏. The wireless communication processing unit 208 performs wireless communication processing with the wireless device 103 via the network 106.

[0021] It should be noted that there seems to be an incomplete expression in the original text where "the network 👏" is written. You may want to check and correct it for a more accurate translation.The memory unit 209 stores programs and data. The memory unit 209 includes a RAM, a ROM, and a storage device. The RAM (Random Access Memory) is a volatile memory such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). The ROM (Read Only Memory) is a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory. The storage device is an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like. Programs for realizing the functions in the present embodiment and data used when the programs are executed are stored in the ROM or the storage device. These programs and data are appropriately loaded into the RAM under the control of the CPU 210 and executed by the CPU 210.

[0022] The CPU (Central Processing Unit) 210 is a central processing unit. The CPU 210 controls the entire network camera 101. The CPU 210 also functions as a tracking system control unit that controls the entire tracking system. The CPU 210 includes a wireless position identification unit 211, an interruption determination unit 213, a restart determination unit 212, a video analysis position identification unit 214, a tracking setting unit 215, and a PTZ control unit 216. Each unit will be described below.

[0023] The wireless position identification unit 211 identifies the position of the wireless device 103 based on the direction of the radio wave transmitted from the wireless device 103. As the position of the wireless device 103, the wireless position identification unit 211 identifies the relative position of the wireless device 103 with respect to the front of the network camera 101. Examples of the method for identifying the relative position of the wireless device 103 include a direction detection function compliant with the Bluetooth (registered trademark) 5.1 specification. Also, as a method for identifying the relative position of the wireless device 103, implementation by a specific method such as Angle of Arrival (AoA) is also possible, and the method is not limited.

[0024] The restart determination unit 212 determines whether to restart the tracking of the subject 104. The interruption determination unit 213 determines whether to interrupt the tracking of the subject 104. The video analysis position specifying unit 214 specifies the position of the subject 104 in the image based on the human body or face detection result by the video analysis unit 206. Note that the video analysis process executed by the video analysis unit 206 may be executed by the video analysis position specifying unit 214 of the CPU 210. Hereinafter, it will be described assuming that the video analysis position specifying unit 214 also performs subject detection by video analysis.

[0025] The tracking setting unit 215 performs settings related to the tracking of the subject. In the tracking system of this embodiment, the tracking of the subject is controlled based on various parameters set in advance by the user. The tracking setting unit 215 accepts the setting of the area for performing the tracking of the subject. Then, the tracking setting unit 215 sets the area for determining the interruption of the tracking of the subject and the area for determining the restart of the tracking of the subject. In addition, the tracking setting unit 215 performs settings related to the wireless device that is the transmission source of the radio wave acquired by the network camera 101. For example, by registering the device ID of the wireless device possessed by the subject to be tracked as a parameter, the tracking setting unit 215 can identify the position of the registered wireless device and perform tracking even when there are a plurality of wireless devices. Further, in addition to the device ID of the wireless device, when there are a plurality of wireless devices, the tracking setting unit 215 may set a priority indicating which subject possessing the wireless device is preferentially tracked.

[0026] Based on the position of the subject 104, the PTZ control unit 216 controls the shooting direction and the shooting angle of view (shooting magnification) of the network camera 101 by using the lens control unit 202 and the drive unit 203. Hereinafter, the control of the shooting direction and the shooting angle of view of the network camera 101 will be described as the control of the pan-tilt-zoom drive of the network camera 101. The PTZ control unit 216 acquires the position of the subject 104 from the wireless position specifying unit 211 or the video analysis position specifying unit 214. Then, the PTZ control unit 216 controls the pan direction and the tilt direction so that the shooting direction (the direction of the imaging optical system) of the camera faces the position of the subject 104. In addition, the PTZ control unit 216 performs control to change the angle of view depending on whether subject tracking is being performed or not. For example, when subject tracking is interrupted, the PTZ control unit 216 controls the angle of view to a wide angle, and when subject tracking is being performed, it controls to a narrower angle of view adapted to the subject 104 being tracked. For example, when subject tracking is being performed, the PTZ control unit 216 performs zoom control so that the size of the face of the subject 104 being tracked becomes a predetermined size or more within the shooting angle of view. In this way, based on the identification of the position of the wireless device 103 attached to the subject 104 or the identification of the position of the subject 104 by video analysis, the auto-tracking of the subject 104 becomes possible by controlling the pan-tilt-zoom drive so that the shooting direction of the camera faces the subject 104. In addition, in the present embodiment, an example will be described in which the shooting direction is controlled based on the position of the subject 104 and the zoom drive is controlled according to whether or not subject tracking is being executed, but the present invention is not limited to this. Zoom drive parameters corresponding to the position of the subject 104 may be stored in advance in the storage unit 209, and the zoom drive may be controlled according to the parameters of the identified position of the subject.

[0027] The tracking process of the subject by the network camera 101 will be described with reference to FIG. 3. FIG. 3 is a flowchart showing the subject tracking process. Each process executed by the network camera 101 in the subject tracking process is realized by the CPU 210 executing the program stored in the storage unit 209.

[0028] In step S301, the device ID of the wireless device for specifying the subject position by radio wave direction detection, which is possessed by the tracking target in the network camera 101, is stored in the storage unit 209. In this embodiment, the device ID of the wireless device 103 possessed by the subject 104 is stored in the storage unit 209. The device ID may be input by the user and stored in the storage unit 209, or may be acquired by wireless communication with the wireless device 103 and stored in the storage unit 209. In step S302, the tracking setting unit 215 sets the tracking execution area and the tracking determination range for the subject 104 that is the tracking target. The details of setting the tracking execution area and the tracking determination range will be described with reference to FIGS. 4 and 5.

[0029] FIG. 4 is a diagram for explaining the tracking execution area and the tracking boundary line. In this embodiment, as regions, a tracking execution area 408, a tracking area 401, a tracking interruption determination area 402, a tracking restart determination area 403, and a non-tracking execution area 404 are set. The tracking execution area 408 is an area combining the tracking area 401 and the tracking interruption determination area 402. The tracking execution area 408 is an area for tracking the subject. In FIG. 4, in the tracking execution area 408, the vicinity of the end in the horizontal direction is the tracking interruption determination area 402, and the tracking execution area 408 excluding the tracking interruption determination area 402 is the tracking area 401.

[0030] The tracking area 401 is an area for tracking a subject and is an area where no determination of interruption of subject tracking is made. When there is a subject to be tracked in the tracking area 401, the process of determining interruption or resumption of tracking is not performed, and the subject tracking process (S306) continues to be executed, and the tracking of the subject continues. The tracking interruption determination area 402 is an area for determining whether to track or interrupt the subject. In FIG. 4, the tracking interruption determination area 402 is an area adjacent to the outside of the tracking area 401 in the horizontal direction. That is, the tracking interruption determination area 402 is an area sandwiched between the tracking area 401 and the tracking resumption determination area 403. In the tracking interruption determination area 402, the tracking of the subject is performed in the same manner as in the tracking area 401 until a determination to interrupt the tracking of the subject is made. The tracking resumption determination area 403 is an area for determining whether to resume the tracking of the subject. In FIG. 4, the tracking resumption determination area 403 is an area adjacent to the outside of the tracking interruption determination area 402 in the horizontal direction. That is, the tracking resumption determination area 403 is an area sandwiched between the tracking execution area 408 (tracking interruption determination area 402) and the non-tracking execution area 404. The non-tracking execution area 404 is an area where the tracking of the subject is not performed. In FIG. 4, the non-tracking execution area 404 is an area adjacent to the outside of the tracking resumption determination area 403 in the horizontal direction. It should be noted that it is also possible to arbitrarily set a non-tracking execution area within the tracking execution area.

[0031] Also, in this embodiment, three tracking boundary lines are set as the boundary lines of the four areas of the tracking area 401, the tracking interruption determination area 402, the tracking resumption determination area 403, and the non-tracking execution area 404. The tracking interruption determination area boundary line 405 (the first boundary line) is the boundary line between the tracking area 401 and the tracking interruption determination area 402. The tracking range boundary line 406 (the second boundary line) is the boundary line between the tracking interruption determination area 402 and the tracking resumption determination area 403. That is, the tracking range boundary line 406 is the boundary line between the tracking execution area 408 and the tracking resumption determination area 403. The tracking resumption determination area boundary line 407 (the third area) is the boundary line between the tracking resumption determination area 403 and the non-tracking execution area 404. The tracking resumption determination area boundary line 407 is the side facing the tracking range boundary line 406 on the outer periphery of the tracking resumption determination area 403.

[0032] The setting of the tracking range, such as the tracking area and the tracking boundary line, is set based on the user's designation on the tracking range setting screen. FIG. 5 is a diagram showing an example of the tracking range setting screen. The tracking range setting screen 501 is, for example, a user interface provided by the network camera 101 and displayed on the web browser of the information terminal 102. When the network camera 101 has a display, the tracking range setting screen 501 may be displayed on the network camera 101. On the tracking range setting screen 501, the video (image data) captured by the network camera 101 installed at the shooting location is superimposed and displayed. The network camera 101 controls the shooting direction and the angle of view of the network camera 101 so that the areas set in the tracking execution area 408, the tracking interruption determination area 402, and the tracking restart determination area 403 fit within the angle of view for display on the tracking range setting screen 501.

[0033] The user can arbitrarily set information such as the horizontal width, height, and depth of the tracking execution area on the tracking range setting screen 501. By setting the tracking execution area by the user, the tracking boundary line is automatically set. In addition, the user can arbitrarily set an area where tracking has not been performed within the tracking execution area. When the setting is completed, the user presses the decision button 502. When the tracking setting unit 215 of the network camera 101 detects the pressing of the decision button 502 via the information terminal 102, the tracking execution area designated by the user on the tracking range setting screen 501 is set as the tracking execution area 408. Then, the tracking setting unit 215 sets the area within a predetermined distance from the boundary line of the tracking execution area 408 as the tracking interruption determination area 402, and sets the area outside the predetermined distance from the boundary line of the tracking execution area 408 as the tracking restart determination area 403. Note that not only the tracking execution area 408 but also the tracking interruption determination area 402 and the tracking restart determination area 403 may be designated by the user.

[0034] In step S303, the wireless location identification unit 211 identifies the position of the subject 104 possessed by the wireless device 103 based on the radio wave received from the wireless device 103. The wireless location identification unit 211 receives a radio wave from the wireless device 103 corresponding to the device ID stored in S301, and based on the radio wave, acquires the azimuth angle, elevation angle, and distance from the network camera 101 to the wireless device 103. Then, the wireless location identification unit 211 identifies the relative position of the subject 104 possessed by the wireless device 103 with respect to the network camera 101 based on the azimuth angle, elevation angle, and distance to the wireless device 103.

[0035] In step S304, the CPU 210 determines whether the position of the subject 104 identified in step S303 is included in the tracking execution area 408. If the position of the subject 104 is included in the tracking execution area 408, the process of step S306 is performed. On the other hand, if the position of the subject 104 is not included in the tracking execution area 408, the process of step S305 is performed.

[0036] In step S305, the CPU 210 determines whether the position of the subject 104 identified in step S303 is included in the tracking restart determination area 403. If the position of the subject 104 is included in the tracking restart determination area 403, the process of step S307 is performed. On the other hand, if the position of the subject 104 is not included in the tracking restart determination area 403, the process of step S308 is performed.

[0037] In step S306, the CPU 210 executes a process of tracking the subject 104 existing in the tracking execution area 408. Details of this process will be described later with reference to FIG. 6. In step S307, the restart determination unit 212 of the CPU 210 performs a tracking restart determination process for the subject 104 existing in the tracking restart determination area. Details of this process will be described later with reference to FIG. 8. In step S308, the PTZ control unit 216 performs pan-tilt-zoom driving so that the pan-tilt-zoom amount of the network camera 101 becomes the initial value. Here, the initial value of the pan-tilt-zoom amount is stored as a parameter in the storage unit 209.

[0038] Next, an example of the detailed processing in step S306 will be described with reference to the flowcharts of FIGS. 6 and 7. FIGS. 6 and 7 are flowcharts showing the tracking execution process. Each process executed by the network camera 101 in the subject tracking execution process is realized by the CPU 210 executing a program stored in the storage unit 209.

[0039] In step S601, the PTZ control unit 216 calculates a pan-tilt-zoom drive amount that enables the network camera 101 to capture the subject 104 at the center of the screen based on the position of the subject specified in step S303. Here, when the position of the subject 104 specified in step S303, such as a subject outside the screen of the network camera 101, is far from the current imaging range of the network camera 101, the pan-tilt-zoom drive amount for subject tracking increases. If the pan-tilt-zoom drive is performed at a high speed to the position of the subject, the burden on the lens control unit 202 and the drive unit 203 of the network camera 101 increases, and there is a risk of giving discomfort to the user viewing the captured video. Therefore, when the position of the subject 104 is far from the current imaging range of the network camera 101, the pan-tilt-zoom drive amount in one operation is limited and the drive is performed in multiple steps. By driving in multiple steps, the burden on the lens control unit 202 and the drive unit 203 and the discomfort to the user viewing the captured video are reduced. In this way, when performing subject tracking by multiple pan-tilt-zoom drives, the PTZ control unit 216 calculates the pan-tilt-zoom drive amounts for multiple times. In step S602, the PTZ control unit 216 performs pan-tilt-zoom drive by the PTZ control unit 216 using the pan-tilt-zoom drive amount calculated in step S601.

[0040] In step S603, the wireless position specifying unit 211 specifies the position of the subject 104 having the wireless device 103 based on the radio wave received from the wireless device 103. The process of step S603 is the same as the process of step S303. If it is included, the process proceeds to step S604, and if it is not included, the process proceeds to step S305.

[0041] In step S604, the CPU 210 determines whether the position of the subject 104 acquired in step S303 is included in the tracking execution area 408. If the position of the subject 104 is included in the tracking execution area 408, the process of S604 is performed. On the other hand, if the position of the subject 104 is not included in the tracking execution area 408, the process of S611 is performed.

[0042] In step S605, the CPU 210 determines whether the position of the subject 104 acquired in step S303 is included in the tracking interruption determination area 402. If the position of the subject 104 is included in the tracking interruption determination area 402, the process of step S613 is performed. On the other hand, if the position of the subject 104 is not included in the tracking interruption determination area 402, the process of step S606 is performed. In step S613, the interruption determination unit 213 performs a tracking interruption determination process on the subject 104 existing in the tracking interruption determination area. Details of this operation will be described later with reference to FIG. 10.

[0043] Steps S606 to S610 are processes for calculating and drivingly controlling the driving amount of the network camera 101 in order to track the subject 104. In this embodiment, an example of performing subject tracking control based on video analysis will be described when the subject 104 can be detected by analyzing the image captured by the network camera 101. In this case, when the subject 104 cannot be detected by analyzing the image captured by the network camera 101, subject tracking control based on the radio wave from the wireless device 103 is performed. Note that the method of tracking the subject 104 in the tracking area 401 is not limited to this, and for example, only subject tracking control based on the radio wave from the wireless device 103 may be performed.

[0044] In step S606, the video analysis position specifying unit 214 analyzes the image data to detect the subject 104 that is the tracking target. The video analysis position specifying unit 214 performs image analysis on the image data generated by the imaging unit 201, the A / D conversion unit 204, and the camera signal processing unit 205 to detect the human body or face of the subject 104 that is the tracking target. Here, there may be cases where the subject 104 cannot be detected in the generated image data as a result of the image analysis. For example, when the subject is behind an obstacle or in a crowd, it becomes difficult to detect the subject both in terms of the human body and the face by video analysis, and the detection of the subject 104 fails. In step S607, it is determined whether or not the detection of the human body or face of the subject 104 in step S606 has been successful. If the detection of the subject 104 is successful, the process of step S608 is performed. On the other hand, if the detection of the subject 104 fails, the process of step S609 is performed.

[0045] In step S608, the PTZ control unit 216 calculates the pan / tilt / zoom drive amount of the network camera 101 based on the position of the subject 104. Specifically, first, the position of the subject 104 in the image detected by the video analysis position specifying unit 214 in step S606 is specified. Then, the PTZ control unit 216 calculates the pan / tilt / zoom drive amount such that the center of the human body or face of the subject 104 is located at the center of the screen based on the position of the tracking target subject 104 specified by the video analysis position specifying unit 214. Note that the specification of the position of the subject 104 by the video analysis position specifying unit 214 may be performed together with the detection of the subject 104 in S606.

[0046] In step S609, the PTZ control unit 216 calculates the pan / tilt / zoom drive amount that enables the network camera 101 to capture the subject 104 at the center of the screen based on the position of the subject specified in step S603. That is, the PTZ control unit 216 calculates the pan / tilt / zoom drive amount of the network camera 101 based on the position of the subject specified based on the radio wave from the wireless device 103. The process of step S609 is the same as the process of step S601.

[0047] In step S610, the PTZ control unit 216 performs PTZ drive using the pan / tilt / zoom drive amount calculated in step S608 or step S609. That is, when the subject is within the tracking interruption region and the detection of the subject 104 to be tracked by image analysis is successful, the PTZ control unit 216 controls the PTZ drive according to the position of the subject 104 identified by image analysis. On the other hand, when the detection of the subject 104 to be tracked by image analysis is not successful, the PTZ control unit 216 controls the PTZ drive according to the position of the subject 104 identified based on the radio wave from the wireless device 103.

[0048] In step S611, the CPU 210 determines whether the position of the subject 104 acquired in step S603 is included in the tracking restart determination region 403. If the position of the subject 104 is included in the tracking restart determination region 403, the process of step S612 is performed. On the other hand, if the position of the subject 104 is not included in the tracking restart determination region 403, this process ends. In step S612, the restart determination unit 212 performs a tracking restart determination process on the subject 104 existing in the tracking restart determination region. The details of this operation will be described later with reference to FIG. 8.

[0049] As described with reference to FIGS. 3, 6, and 7, in this embodiment, first, it is confirmed whether the subject 104 is in the tracking execution region 408 based on the radio wave received from the wireless device 103, and if it is in the tracking execution region 408, drive control for subject tracking is performed. Then, while also confirming the region where the subject 104 is based on the radio wave received from the wireless device 103, a determination is made as to whether to perform drive control for subject tracking, interrupt tracking, or restart tracking. In this way, by grasping the position of the subject 104 based on the radio wave from the wireless device 103 possessed by the subject 104, even when the subject 104 is not within the range that can be photographed and cannot be detected by image analysis, it is possible to efficiently determine whether to interrupt or restart tracking.

[0050] Next, the details of the tracking restart determination process shown in step S307 and step S612 will be described using the flowchart of FIG. 8. FIG. 8 is a flowchart showing the tracking restart determination process. Each process executed by the network camera 101 in the tracking restart determination process is realized by the CPU 210 executing a program stored in the storage unit 209. The tracking restart determination process is a process performed when the position of the subject 104 specified based on the radio wave from the wireless device 103 is within the tracking restart determination area 403. In the tracking restart determination process, the restart determination unit 212 determines whether to restart tracking of the subject 104 based on the movement of the subject 104 specified based on the radio wave from the wireless device 103.

[0051] Steps S801 and S802 are processes for calculating the movement of the subject 104 over a certain period of time based on the radio wave from the wireless device 103. In step S801, the wireless position specifying unit 211 acquires the radio wave from the wireless device 103 for a certain period of time. For example, as the certain period of time, the wireless position specifying unit 211 acquires the radio wave from the wireless device 103 for a predetermined period of time after it is determined that the subject 104 is in the tracking restart determination area 403.

[0052] In step S802, the wireless position specifying unit 211 calculates the moving direction and moving distance of the subject 104 as the movement of the subject 104. Specifically, first, the wireless position specifying unit 211 specifies the position of the subject 104 for a certain period of time with the network camera 101 as the reference position based on the direction of the radio wave generated from the wireless device 103 for the certain period of time acquired in step S801. By specifying the position of the subject 104 for a certain period of time in this way, the wireless position specifying unit 211 can acquire continuous data on the position of the subject 104. Then, the wireless position specifying unit 211 calculates the moving direction and moving distance of the subject 104 based on the continuous data on the position of the subject 104.

[0053] In step S803, the resumption determination unit 212 determines whether to resume tracking the subject 104 based on the movement direction and movement distance of the subject 104 calculated in step S802. Specifically, within the resumption determination region 403, the resumption determination unit 212 determines whether the movement direction of the subject 104 calculated in step S802 is a unique direction and whether the movement distance of the subject 104 calculated in step S802 has moved a predetermined distance or more.

[0054] FIG. 9 is a diagram for explaining the movement of the subject in the resumption determination of tracking. In FIG. 9(A), in the direction in which the subject 104 moves from the resumption determination region boundary line 407 toward the tracking range boundary line 406, the subject 104 has moved a distance exceeding the tracking range boundary line 406 from the resumption determination region boundary line 407 within the resumption determination region 403. The arrow 901 indicates the movement direction of the subject 104. As shown in FIG. 9(A), when the subject 104 moves in a unique direction and a predetermined distance within the resumption determination region 403, the resumption determination unit 212 determines to resume tracking. Here, the unique direction in the resumption determination process of tracking is the direction from the resumption determination region boundary line 407 toward the tracking range boundary line 406 (the first direction). The predetermined distance in the resumption determination process of tracking is the distance exceeding the tracking range boundary line 406 from the resumption determination region boundary line 407 (the first distance).

[0055] In FIG. 9(B), after the subject 104 moves in the direction from the tracking restart determination area boundary line 407 to the tracking range boundary line 406, it moves in the direction from the reverse tracking range boundary line 406 to the tracking restart determination area boundary line 407. Arrow 902 indicates the moving direction of the subject 104. As shown in FIG. 9(B), when the moving direction of the subject 104 is not determined in a unique direction, the restart determination unit 212 determines not to restart the tracking of the subject. Also, even if the moving direction of the subject 104 is a unique direction, if the subject 104 does not move a distance exceeding the tracking range boundary line 406 from the tracking restart determination area boundary line 407 within the tracking restart determination area 403, the restart determination unit 212 determines not to restart the tracking of the subject. Thus, within the tracking restart determination area 403, when the moving direction of the subject 104 is not a unique direction, or when the subject 104 has not moved a predetermined distance, the restart determination unit 212 determines not to restart the tracking of the subject.

[0056] When the restart determination unit 212 determines to restart the tracking of the subject 104, the process of step S804 is performed. On the other hand, when the restart determination unit 212 determines not to restart the tracking of the subject 104, this process ends. In step S804, the CPU 210 restarts the tracking of the subject 104 and executes the process of tracking the subject 104. The process of step S804 is the same as the process of step S306. When a predetermined time has elapsed since the restart determination unit 212 determines not to restart the tracking of the subject 104 and the network camera 101 is not in the home position, the CPU 210 performs drive control to return the network camera 101 to the home position in S308.

[0057] Next, the details of the tracking interruption determination process shown in step S613 will be described using the flowchart of FIG. 10. FIG. 10 is a flowchart showing the tracking interruption determination process. Each process executed by the network camera 101 in the tracking interruption determination process is realized by the CPU 210 executing a program stored in the storage unit 209. The tracking interruption determination process is a process performed when the position of the subject 104 specified based on the radio wave from the wireless device 103 is within the tracking interruption determination area 402. In the tracking interruption determination process, the interruption determination unit 213 determines whether to interrupt the tracking of the subject 104 based on the movement of the subject 104 specified based on the radio wave from the wireless device 103.

[0058] Steps S1001 and S1002 are processes for calculating the movement of the subject 104 over a certain period based on the radio wave from the wireless device 103. In step S1001, the wireless position specifying unit 211 acquires the radio wave from the wireless device 103 for a certain period. For example, the wireless position specifying unit 211 acquires the radio wave from the wireless device 103 for a predetermined period determined in advance after it is determined that the subject 104 is in the tracking interruption determination area 402 as a certain period.

[0059] In step S1002, the wireless position specifying unit 211 calculates the moving direction and moving distance of the subject 104 as the movement of the subject 104. Specifically, first, the wireless position specifying unit 211 specifies the position of the subject 104 for a certain period with the network camera 101 as the reference position based on the direction of the radio wave generated from the wireless device 103 for the certain period acquired in step S1001. By specifying the position of the subject 104 for a certain period in this way, the wireless position specifying unit 211 can acquire the continuous data of the position of the subject 104. Then, the wireless position specifying unit 211 calculates the moving direction and moving distance of the subject 104 based on the continuous data of the position of the subject 104.

[0060] In step S1003, the interruption determination unit 213 determines whether to interrupt the tracking of the subject 104 based on the moving direction and moving distance of the subject 104 calculated in step S1002. Specifically, in the tracking interruption determination region 402, the interruption determination unit 213 determines whether the moving direction of the subject 104 calculated in step S1002 is a unique direction and whether the moving distance of the subject 104 calculated in step S1002 has moved a predetermined distance or more.

[0061] FIG. 11 is a diagram for explaining the movement of the subject in the tracking interruption determination. In FIG. 11(A), in the direction in which the subject 104 moves from the tracking interruption determination region boundary line 405 toward the tracking range boundary line 406, the subject 104 moves a distance exceeding the tracking range boundary line 406 from the tracking interruption determination region boundary line 405 within the tracking interruption determination region 402. The arrow 1101 indicates the moving direction of the subject 104. As shown in FIG. 11(A), when the subject 104 moves in a unique direction and a predetermined distance within the tracking interruption determination region 402, the interruption determination unit 213 determines to interrupt the tracking. Here, the unique direction in the tracking interruption determination process is the direction from the tracking interruption determination region boundary line 405 toward the tracking range boundary line 406 (the second direction). The predetermined distance in the tracking restart determination process is the distance exceeding the tracking range boundary line 406 from the tracking interruption determination region boundary line 405 (the second distance).

[0062] In FIG. 11(B), after the subject 104 moves in the direction from the tracking interruption determination area boundary line 405 toward the tracking range boundary line 406, it moves in the direction from the reverse tracking range boundary line 406 toward the tracking interruption determination area boundary line 405. The arrow 1102 indicates the moving direction of the subject 104. When the moving direction of the subject 104 is not determined in a unique direction as shown in FIG. 11(B), the interruption determination unit 213 determines not to interrupt the tracking of the subject. Also, even if the moving direction of the subject 104 is a unique direction, if the subject 104 does not move a distance exceeding the tracking range boundary line 406 from the tracking interruption determination area boundary line 405 within the tracking restart determination area 403, the interruption determination unit 213 determines not to interrupt the tracking of the subject. Thus, within the tracking restart determination area 403, when the moving direction of the subject 104 is not a unique direction or the subject 104 has not moved a predetermined distance, the interruption determination unit 213 determines not to interrupt the tracking of the subject.

[0063] When the interruption determination unit 213 determines to interrupt the tracking of the subject 104, the process of step S1005 is performed. In S1005, the PTZ control unit 216 interrupts the pan-tilt-zoom control to interrupt the tracking of the subject. And when a predetermined time has elapsed since the interruption determination unit 213 determines to interrupt the tracking of the subject 104, the CPU 210 may drive and control the network camera 101 to return to the home position in S308. On the other hand, when the interruption determination unit 213 determines not to interrupt the tracking of the subject 104, the process of step S1004 ends. In step S1004, the CPU 210 executes the process of tracking the subject 104. The process of step S1004 is the same as the process of step S306.

[0064] When there are multiple wireless devices, that is, when multiple subjects each possess a wireless device, a tracking priority is set for the wireless devices. The priority of the wireless devices is managed by the tracking setting unit 215. When the tracking of the subject possessing the wireless device with the first priority is interrupted, the network camera 101 is controlled to track and photograph the subject possessing the wireless device with the second priority, which is the priority next to the first priority. Specifically, the CPU 210 identifies the relative position of the subject possessing the wireless device with the second priority with respect to the network camera 101 based on the radio wave received from the wireless device with the second priority. Then, it is determined whether the position of the subject possessing the wireless device with the second priority is within the tracking execution area 408. When the position of the subject possessing the wireless device with the second priority is within the tracking execution area 408, the CPU 210 controls the pan / tilt / zoom drive of the network camera 101 to track and photograph the subject possessing the wireless device with the second priority. And when the CPU 210 determines to resume the tracking of the wireless device with the first priority, which has a higher priority than the wireless device with the second priority, the tracking target is changed from the subject possessing the wireless device with the second priority to the subject possessing the wireless device with the first priority, and subject tracking is performed.

[0065] As described above, in this embodiment, the interruption and resumption of subject tracking are determined based on the data of several radio waves transmitted from the wireless device 103. Thereby, even when the subject 104 is not within the range where it can be photographed and cannot be detected by image analysis, the determination of the interruption and resumption of tracking can be efficiently performed, and the burden on the user can be reduced.

[0066] The disclosure of this embodiment includes the following configurations of the imaging device. (Configuration 1) Setting means for setting a tracking execution area for tracking and imaging a subject to be tracked, an interruption determination area for determining the interruption of the tracking of the subject, and a resumption determination area for determining the resumption of the tracking of the subject; By performing video analysis on the image data obtained by the imaging unit of the imaging device, a first specifying means for detecting the subject and specifying the position of the subject in the image data; a second specifying means for specifying the relative position of the subject with respect to the imaging device based on the direction of radio waves received from a wireless device held by the subject; a drive control means for controlling the shooting direction and the shooting angle of view based on the position of the subject in order to track and photograph the subject when the position of the subject specified by the second specifying means is within the tracking execution area; a tracking interruption determination means for determining whether or not to interrupt the tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the interruption determination area; a tracking restart determination means for determining whether or not to restart the tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the restart determination area, and having: when the tracking interruption determination means determines to interrupt the tracking of the subject, the drive control means interrupts the control of the imaging device for tracking the subject; when the tracking restart determination means determines to restart the tracking of the subject, the drive control means restarts the control of the imaging device for tracking the subject. An imaging device characterized by this. (Configuration 2) The tracking interruption determination means determines whether or not to interrupt the tracking of the subject based on the moving direction and moving distance of the subject calculated based on the direction of radio waves received from the wireless device; The tracking restart determination means determines whether or not to restart the tracking of the subject based on the moving direction and moving distance of the subject calculated based on the direction of radio waves received from the wireless device. The imaging device according to claim 1, characterized by this. (Configuration 3) The tracking execution area includes a tracking area and the interruption determination area; The interruption determination area is an area adjacent to the restart determination area; The boundary line between the interruption determination area and the tracking area is defined as the first boundary line, and the boundary line between the interruption determination area and the resumption determination area is defined as the second boundary line. The imaging device according to Configuration 2, wherein the tracking interruption determination means determines that the tracking of the subject is interrupted when the subject moves a distance exceeding the second boundary line from the first boundary line in a unique direction from the first boundary line to the second boundary line. (Configuration 4) The imaging device according to Configuration 3, wherein the tracking interruption determination means determines that the tracking of the subject is not interrupted when the moving direction of the subject is not determined in a unique direction or when the subject has not moved a distance exceeding the second boundary line from the first boundary line. (Configuration 5) The imaging device according to any one of Configurations 2 to 4, wherein the tracking interruption determination means acquires the moving direction and the moving distance of the subject based on the relative position of the subject with respect to the imaging device for a certain period of time specified by the second specifying means based on the radio wave acquired from the wireless device for a certain period of time and specified based on the direction of the radio wave. (Configuration 6) The boundary line between the resumption determination area and the interruption determination area is defined as the second boundary line, and the side facing the second boundary line on the outer periphery of the resumption determination area is defined as the third boundary line. The imaging device according to Configuration 2, wherein the tracking resumption determination means determines that the tracking of the subject is resumed when the subject moves a distance exceeding the second boundary line from the third boundary line in a unique direction from the third boundary line to the second boundary line. (Configuration 7) The imaging device according to Configuration 6, wherein the tracking resumption determination means determines that the tracking of the subject is not resumed when the moving direction of the subject is not determined in a unique direction or when the subject has not moved a distance exceeding the second boundary line from the third boundary line. (Configuration 8) The tracking restart determination means obtains the moving direction and moving distance of the subject based on the relative position of the subject with respect to the imaging device for a certain period of time specified based on the radio wave for a certain period of time acquired from the wireless device by the second specifying means and based on the direction of the radio wave. The imaging device according to any one of claims 2 to 7, characterized in that. (Configuration 9) The setting means performs setting of the tracking execution area, the interruption determination area, and the restart determination area based on a designation by the user. The imaging device according to any one of configurations 1 to 8, characterized in that. (Configuration 10) The setting means receives a designation of the tracking execution area from the user, and sets an area within a predetermined distance from the boundary line of the tracking execution area as the interruption determination area, and an area outside a predetermined distance from the boundary line of the tracking execution area as the restart determination area. The imaging device according to configuration 9, characterized in that. (Configuration 11) The image data acquired by the imaging unit is displayed on the user interface that receives the designation. The drive control means controls the shooting direction and shooting angle of the imaging device so that the areas set for the tracking execution area, the interruption determination area, and the restart determination area are within the viewing angle of the image data displayed on the user interface. The imaging device according to configuration 9 or 10, characterized in that. (Configuration 12) When the subject cannot be detected by the first specifying means, the drive control means controls the imaging device based on the relative position of the subject specified by the second specifying means, and when the subject can be detected by the first specifying means, the drive control means controls the imaging device based on the position of the subject in the image data specified by the first specifying means. The imaging device according to any one of configurations 1 to 11, characterized in that. (Configuration 13) When there are a plurality of wireless devices, priorities are set for the wireless devices. When the tracking of a subject possessing a wireless device with a first priority is interrupted by the tracking interruption determination means, the second specifying means specifies the relative position of the subject possessing a wireless device with a second priority, which is the priority next to the first priority, with respect to the imaging device, and when the position of the subject possessing the wireless device with the second priority specified by the second specifying means is within the tracking execution area, the driving means controls the imaging device based on the relative position of the subject possessing the wireless device with the second priority with respect to the imaging device in order to track and photograph the subject possessing the wireless device with the second priority. The imaging device according to any one of Configurations 1 to 12, characterized in that (Configuration 14) An imaging optical system including a zoom lens, An imaging unit that performs imaging and acquires image data, A communication processing unit that receives radio waves from the wireless device, A first driving unit that drives the orientation of the imaging optical system in the pan direction and the tilt direction, A second driving unit that drives the zoom lens, further comprising: The imaging device according to any one of Configurations 1 to 13, characterized in that the drive control means controls the first driving unit and the second driving unit.

[0067] (Other Embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium and causing one or more processors in a computer of the system or device to read and execute the program. Further, it can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

[0068] As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist thereof.

Explanation of Reference Numerals

[0069] 101 Network camera 103 Wireless device 210 CPU 211 Wireless location determination unit 212 Resumption determination unit 213 Interruption determination unit 215 Tailgating setting unit 216 PTZ control unit

Claims

1. Setting means for setting a tracking execution area for tracking and imaging a subject to be tracked, an interruption determination area for determining interruption of tracking of the subject, and a resumption determination area for determining resumption of tracking of the subject; First specifying means for detecting the subject and specifying the position of the subject in the image data by performing video analysis on the image data obtained by the imaging unit of the imaging device; Second specifying means for specifying the relative position of the subject with respect to the imaging device based on the direction of radio waves received from a wireless device possessed by the subject; Drive control means for controlling the shooting direction and the shooting angle of view based on the position of the subject in order to track and photograph the subject when the position of the subject specified by the second specifying means is within the tracking execution area; Tracking interruption determination means for determining whether or not to interrupt tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the interruption determination area; Tracking resumption determination means for determining whether or not to resume tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the resumption determination area, and having: When the tracking interruption determination means determines to interrupt tracking of the subject, the drive control means interrupts control of the imaging device for tracking the subject; An imaging device, wherein when the tracking resumption determination means determines to resume tracking of the subject, the drive control means resumes control of the imaging device for tracking the subject.

2. The tracking interruption determination means determines whether or not to interrupt tracking of the subject based on the moving direction and the moving distance of the subject calculated based on the direction of radio waves received from the wireless device; The imaging device according to claim 1, wherein the tracking resumption determination means determines whether or not to resume tracking of the subject based on the moving direction and the moving distance of the subject calculated based on the direction of radio waves received from the wireless device.

3. The tracking execution area includes a tracking area and the interruption determination area; The interruption determination area is an area adjacent to the resumption determination area; Let the boundary line between the interruption determination area and the tracking area be the first boundary line, and the boundary line between the interruption determination area and the resumption determination area be the second boundary line. The imaging device according to claim 2, wherein the tracking interruption determination means determines that the tracking of the subject is interrupted when the subject moves a distance beyond the second boundary line in a unique direction from the first boundary line to the second boundary line.

4. The imaging device according to claim 3, wherein the tracking interruption determination means determines that the tracking of the subject is not interrupted when the moving direction of the subject is not determined in a unique direction or when the subject has not moved a distance beyond the second boundary line from the first boundary line.

5. The imaging device according to claim 2, wherein the tracking interruption determination means obtains the moving direction and the moving distance of the subject based on the relative position of the subject with respect to the imaging device for a certain period of time specified by the second specifying means based on the radio wave acquired from the wireless device for a certain period of time and specified based on the direction of the radio wave.

6. Let the boundary line between the restart determination area and the interruption determination area be the second boundary line, and the side facing the second boundary line on the outer periphery of the restart determination area be the third boundary line. The imaging device according to claim 2, wherein the tracking restart determination means determines that the tracking of the subject is restarted when the subject moves a distance beyond the second boundary line in a unique direction from the third boundary line to the second boundary line.

7. The imaging device according to claim 6, wherein the tracking restart determination means determines that the tracking of the subject is not restarted when the moving direction of the subject is not determined in a unique direction or when the subject has not moved a distance beyond the second boundary line from the third boundary line.

8. The imaging device according to claim 2, wherein the tracking restart determination means obtains the moving direction and the moving distance of the subject based on the relative position of the subject with respect to the imaging device for a certain period of time specified by the second specifying means based on the radio wave acquired from the wireless device for a certain period of time and specified based on the direction of the radio wave.

9. The imaging device according to claim 1, wherein the setting means performs the setting of the tracking execution area, the interruption determination area, and the restart determination area based on a designation by the user.

10. The imaging device according to claim 9, wherein the setting means receives a designation of the tracking execution area from a user, sets an area within a predetermined distance from the boundary line of the tracking execution area as the interruption determination area, and sets an area outside a predetermined distance from the boundary line of the tracking execution area as the resumption determination area.

11. Image data acquired by the imaging unit is displayed on the user interface that receives the designation, The drive control means controls the shooting direction and shooting angle of view of the imaging device so that the areas set as the tracking execution area, the interruption determination area, and the resumption determination area are within the angle of view of the image data displayed on the user interface. The imaging device according to claim 9, characterized in that.

12. When the subject cannot be detected by the first specifying means, the drive control means controls the imaging device based on the relative position of the subject specified by the second specifying means, and when the subject can be detected by the first specifying means, the drive control means controls the imaging device based on the position of the subject in the image data specified by the first specifying means. The imaging device according to claim 1, characterized in that.

13. When there are a plurality of wireless devices, priorities are set for the wireless devices. When the tracking of a subject possessing a wireless device of a first priority is interrupted by the tracking interruption determination means, the second specifying means specifies the relative position of the subject possessing a wireless device of a second priority, which is the priority next to the first priority, with respect to the imaging device, and when the position of the subject possessing the wireless device of the second priority specified by the second specifying means is within the tracking execution area, the drive means controls the imaging device based on the relative position of the subject possessing the wireless device of the second priority with respect to the imaging device in order to track and photograph the subject possessing the wireless device of the second priority. The imaging device according to claim 1, characterized in that.

14. An imaging optical system including a zoom lens, An imaging unit that performs imaging and acquires image data, A communication processing unit that receives radio waves from the wireless device, A first drive unit that drives the orientation of the imaging optical system in the pan direction and the tilt direction, A second drive unit that drives the zoom lens, and further has, The drive control means controls the first drive unit and the second drive unit. The imaging device according to claim 1, characterized in that.

15. A tracking system including a wireless device carried by a subject to be tracked and an imaging device that receives radio waves from the wireless device, wherein the wireless device has a wireless communication module according to a direction detection function, and the imaging device includes an imaging optical system including a zoom lens, an imaging unit that performs imaging and acquires image data, a communication processing unit that receives radio waves from the wireless device, a first driving unit that drives the orientation of the imaging optical system in the pan direction and the tilt direction, a second driving unit that drives the zoom lens, setting means for setting a tracking execution area for tracking the subject, an interruption determination area for determining interruption of tracking of the subject, and a restart determination area for determining restart of tracking of the subject, first specifying means for detecting the subject by performing video analysis on the image data obtained by the imaging unit and specifying the position of the subject in the image data, second specifying means for specifying the relative position of the subject with respect to the imaging device based on the direction of radio waves received from the wireless device carried by the subject, driving control means for controlling the first driving unit and the second driving unit based on the position of the subject in order to track and photograph the subject when the position of the subject specified by the second specifying means is within the tracking execution area, tracking interruption determination means for determining whether or not to interrupt tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the interruption determination area, tracking restart determination means for determining whether or not to restart tracking of the subject based on the movement of the subject when the position of the subject specified by the second specifying means is within the restart determination area, and when the tracking interruption determination means determines to interrupt tracking of the subject, the driving control means interrupts the control for tracking the subject, wherein when the tracking restart determination means determines to restart tracking of the subject, the driving control means restarts the control for tracking the subject. A tracking system characterized by this.

16. A control method for an imaging device, comprising a setting step of setting a tracking execution area for tracking a subject to be tracked, an interruption determination area for determining interruption of tracking of the subject, and a restart determination area for determining restart of tracking of the subject, A first specifying step of detecting the subject and specifying the position of the subject in the image data by performing video analysis on the image data obtained by the imaging unit of the imaging device; A second specifying step of specifying the relative position of the subject with respect to the imaging device based on the direction of radio waves received from a wireless device possessed by the subject; A drive control step of controlling the shooting direction and the shooting angle of view based on the position of the subject in order to track and shoot the subject when the position of the subject specified in the second specifying step is within the tracking execution area; A tracking interruption determination step of determining whether to interrupt the tracking of the subject based on the movement of the subject when the position of the subject specified in the second specifying step is within the interruption determination area; A tracking restart determination step of determining whether to restart the tracking of the subject based on the movement of the subject when the position of the subject specified in the second specifying step is within the restart determination area, and having: When it is determined in the tracking interruption determination step that the tracking of the subject is interrupted, the control of the pan / tilt / zoom drive of the imaging device for tracking the subject is interrupted; A control method for an imaging device, characterized in that when it is determined in the tracking restart determination step that the tracking of the subject is restarted, the control of the pan / tilt / zoom drive of the imaging device for tracking the subject is restarted.

17. A program for causing a computer of an imaging device to execute each step according to Claim 16.

Images