Astronomical imaging device, astronomical imaging method, and astronomical imaging program

Abstract

To provide an astronomical imaging device, an astronomical imaging method, and an astronomical imaging program capable of improving accuracy in removing artificial objects from captured images.SOLUTION: An astronomical imaging device includes flying object identification means that identifies flying objects that may exist within an imaging angle of view of imaging means based on information indicating an imaging environment of the imaging means that captures an astronomical object to be observed, image processing means that performs image processing to remove the flying objects from images captured by the imaging means based on predicted trajectories of the flying objects identified by the flying object identification means, and output means that outputs information indicating image processing results by the image processing means.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to an astronomical imaging device, an astronomical imaging method, and an astronomical imaging program. [Background technology]

[0002] As a technology related to imaging of celestial bodies, for example, Patent Document 1 describes a technology for capturing only the light of stars in a starry sky by removing noise light from building lights (noise light) or noise light from moving objects such as airplanes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-147155 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 leaves room for improvement in terms of the accuracy with which artifacts can be removed from captured images.

[0005] An object of the present disclosure is to provide an astronomical imaging device, an astronomical imaging method, and an astronomical imaging program that can improve the accuracy of removing artifacts from captured images. [Means for solving the problem]

[0006] The astronomical imaging device according to the present disclosure includes a flying object identification means that identifies flying objects that may be present within the imaging field of view of the imaging means that images the celestial body being observed, based on information indicating the imaging environment of the imaging means; an image processing means that performs image processing to remove the flying object from the image captured by the imaging means, based on the predicted trajectory of the flying object identified by the flying object identification means; and an output means that outputs information indicating the results of image processing by the image processing means.

[0007] In the celestial body imaging method disclosed herein, a computer identifies flying objects that may be present within the imaging field of view of an imaging unit that images the celestial body being observed, based on information indicating the imaging environment of the imaging unit, performs image processing to remove the flying object from the image captured by the imaging unit based on the predicted trajectory of the identified flying object, and outputs information indicating the image processing results.

[0008] The celestial body imaging program according to the present disclosure causes a computer to execute a flying object identification process that identifies flying objects that may be present within the imaging field of view of an imaging unit that images the celestial body being observed, based on information indicating the imaging environment of the imaging unit; an image process that removes the flying object from the image captured by the imaging unit, based on the predicted trajectory of the identified flying object; and an output process that outputs information indicating the results of the image processing. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to improve the accuracy of removing artifacts from captured images. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 2 is a block diagram illustrating the functional configuration of an astronomical imaging apparatus. [Figure 2] 10A and 10B are explanatory diagrams illustrating image processing for removing an artificial satellite from a captured image. [Figure 3] FIG. 10 is an explanatory diagram illustrating an example of a time series relationship in image processing. [Figure 4] FIG. 1 is an explanatory diagram illustrating an outline of the operation of an astronomical imaging device. [Figure 5] 10 is a flowchart illustrating the operation of the astronomical imaging apparatus. [Figure 6] 10 is a flowchart illustrating the operation of the astronomical imaging apparatus. [Figure 7] 10 is a flowchart illustrating the operation of the astronomical imaging apparatus. [Figure 8] FIG. 1 is a block diagram illustrating a configuration of a computer. [Figure 9] FIG. 2 is a block diagram illustrating the main parts of an astronomical imaging device. DETAILED DESCRIPTION OF THE INVENTION

[0011] There are many man-made flying objects (hereinafter simply referred to as flying objects) in Earth orbit. Therefore, when celestial bodies are photographed from the ground, the light reflected by the flying objects can cause many substances other than the celestial bodies to appear in the captured image. In such cases, it becomes difficult to display the celestial bodies that you are actually interested in observing in the captured image.

[0012] Furthermore, when capturing images of celestial bodies from the ground, it is difficult to distinguish between celestial bodies and flying objects in the captured image. Image processing methods such as averaging (σ clipping) are available to achieve this. However, these image processing methods only select outliers in the image to be removed. Therefore, the accuracy of the distinction may be reduced if there are areas with similar light levels nearby in the image.

[0013] In recent years, less reflective paints have been used to paint artificial satellites as a countermeasure against light pollution. However, the fact remains that artificial satellites and other flying objects exist in space. Therefore, there is a possibility that these flying objects may block the view of the celestial objects being observed.

[0014] The present disclosure has been made in consideration of the above-mentioned problems, and one of its purposes is to provide a technology that can improve the accuracy of removing artificial objects from captured images of celestial bodies taken from the ground.

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding elements are designated by the same reference numerals, and duplicate explanations will be omitted as necessary for clarity. Unless otherwise specified, predetermined values ​​such as predetermined values ​​and threshold values ​​are stored in advance in a storage device accessible from a device that uses the values. Furthermore, unless otherwise specified, the storage unit is composed of one or any number of storage devices.

[0016] 1 is a block diagram illustrating the functional configuration of an astronomical imaging apparatus 100 of this embodiment. The astronomical imaging apparatus 100 of this embodiment includes an imaging unit 110, a control unit 120, an output unit 130, a flying object catalog database 140, and an optimal imaging time database 150.

[0017] The imaging unit 110 has a function of continuously capturing images of the celestial body to be observed for a predetermined period of time, a function of inputting and setting azimuth information of the angle of view for capturing images, and a communication function. The imaging unit 110 outputs the captured image and additional information indicating the imaging environment of the imaging unit 110 to the control unit 120. The imaging unit 110 is realized by, for example, a camera capable of capturing moving images and still images. The additional information includes, for example, information indicating the latitude and longitude where the imaging unit 110 is installed, the altitude of the lens, and the angles of the four points of the angle of view.

[0018] The control unit 120 includes a flying object specifying unit 121 , an optimal imaging time specifying unit 122 , an image processing unit 123 , a trajectory registration unit 124 , and an optimal imaging time registration unit 125 .

[0019] The flying object identifying unit 121 identifies a flying object that may be present within the imaging field of view of the imaging unit 110, based on supplementary information that indicates the imaging environment of the imaging unit 110. The flying object identifying unit 121 may identify multiple flying objects.

[0020] For example, the flying object identification unit 121 identifies flying objects that may be present within the imaging angle of view of the imaging unit 110 from flying objects registered in the flying object catalog database 140 based on supplementary information indicating the imaging environment of the imaging unit 110. Catalog information of flying objects is registered in the flying object catalog database 140. Hereinafter, flying objects registered in the flying object catalog database 140 will also be referred to as registered flying objects. The flying object identification unit 121 extracts catalog information of the identified registered flying object from the flying object catalog database 140.

[0021] In this embodiment, a "registered airborne object" is an artificial object such as an artificial satellite flying in Earth orbit, which is registered in the airborne object catalog database 140. Debris is also included in the registered airborne object. In addition, an "observation target" in this embodiment is a celestial body that is not registered in the airborne object catalog database 140. Therefore, in this embodiment, a registered airborne object captured in a captured image is subject to removal by image processing.

[0022] The flying object identification unit 121 acquires orbital element data from a monitoring server (not shown) that monitors the orbits of the registered flying objects based on the catalog information of the identified registered flying objects. The flying object identification unit 121 acquires, for example, two-line element (TLE) data as orbital element data corresponding to the scheduled imaging time of the imaging unit 110.

[0023] The optimal imaging time specifying unit 122 specifies an imaging time (hereinafter also referred to as optimal imaging time) that is optimal for capturing a plurality of captured images required for image processing to remove the specified registered flying object from the captured images.

[0024] In this embodiment, the control unit 120 uses a plurality of consecutively captured images to perform image processing to remove registered flying objects from a reference captured image (hereinafter also referred to as a reference captured image). The optimal image capturing time is the estimated optimal time for capturing the plurality of captured images required for such image processing. The image capturing unit 110 captures an image of the observation target from the reference time for capturing the reference captured image until the optimal image capturing time has elapsed.

[0025] The optimal imaging time database 150 stores optimal imaging times calculated based on the results of past imaging of registered flying objects within the imaging angle of view by the imaging unit 110 and image processing of the captured images by the control unit 120. The optimal imaging time identification unit 122 reads out the corresponding optimal imaging time for the identified registered flying object from the optimal imaging time database 150. Furthermore, if the corresponding optimal imaging time for the identified registered flying object is not registered in the optimal imaging time database 150, the optimal imaging time identification unit 122 identifies a predetermined maximum imaging time as the optimal imaging time.

[0026] The image processing unit 123 receives as input the captured images captured by the imaging unit 110. For example, the image processing unit 123 may receive as input frames constituting a moving image captured by the imaging unit 110 as the captured images.

[0027] The image processing unit 123 executes image processing to remove the registered flying object from the captured image based on the predicted trajectory of the registered flying object. When multiple registered flying objects are identified, the image processing unit 123 executes image processing to remove all of the identified registered flying objects from the captured image.

[0028] Fig. 2 is an explanatory diagram illustrating image processing for removing an artificial satellite from a captured image. The left side of Fig. 2 shows a captured image in which an artificial satellite appears. The right side of Fig. 2 shows a captured image from which the artificial satellite has been removed by image processing.

[0029] For example, the image processing unit 123 inputs a plurality of captured images captured continuously from the reference time until the optimum image capturing time y has elapsed. That is, the image processing unit 123 inputs a plurality of captured images captured at different times with the same imaging angle of view. In this case, the captured image captured at the reference time becomes the reference captured image.

[0030] Furthermore, the image processing unit 123 calculates a predicted trajectory of the registered flying object at the time when the optimum imaging time y has elapsed from the reference time based on the orbital element data of the registered flying object acquired by the flying object identification unit 121. Then, the image processing unit 123 sets an area (hereinafter, predicted trajectory area) corresponding to the predicted trajectory of the registered flying object in each captured image captured continuously from the reference time until the optimum imaging time y has elapsed.

[0031] If a registered flying object is included in the predicted trajectory region of the reference captured image, the image processing unit 123 performs image processing to remove the registered flying object from the predicted trajectory region of the reference captured image, using an image among the multiple input captured images whose predicted trajectory region does not include the registered flying object.

[0032] For example, the image processing unit 123 removes the registered flying object from the predicted trajectory area of ​​the reference captured image by superimposing the predicted trajectory area of ​​the captured image, the predicted trajectory area of ​​which does not include the registered flying object, on the predicted trajectory area of ​​the reference captured image. Furthermore, if the observation target is included in the predicted trajectory area set in the reference captured image, the image processing unit 123 corrects the position of the observation target in the superimposed predicted trajectory area to its position at the reference time.

[0033] If a registered flying object is not included in the predicted trajectory region of the reference captured image, the image processing unit 123 may exclude the registered flying object from the image processing.

[0034] The trajectory registration unit 124 calculates the trajectory of the registered flying object for which the trajectory element data could not be acquired from the input multiple captured images. The trajectory registration unit 124 also registers information indicating the calculated trajectory in a monitoring server (not shown).

[0035] The optimum imaging time registration unit 125 registers information indicating the optimum imaging time calculated based on the image processing result by the image processing unit 123 in the optimum imaging time database 150 .

[0036] The output unit 130 outputs information indicating the result of image processing by the image processing unit 123. For example, the output unit 130 outputs and stores information indicating the captured image that has been subjected to image processing by the image processing unit 123 in a storage unit (not shown) of the astronomical imaging device 100 or an external device. Also, for example, the output unit 130 outputs information indicating the captured image that has been subjected to image processing by the image processing unit 123 to a display device (not shown) such as a display device to display the information.

[0037] The configuration of the astronomical imaging device 100 is not limited to the configuration exemplified in Fig. 1. For example, the imaging unit 110 may be provided as a device separate from the astronomical imaging device 100. Also, for example, the flying object catalog database 140 and the optimal imaging time database 150 may be configured in an external device separate from the astronomical imaging device 100. Furthermore, the astronomical imaging device 100 may acquire and utilize information from a Web (World Wide Web) site that provides information on flying objects and optimal imaging times.

[0038] Next, image processing for removing artifacts from captured images will be described. Fig. 3 is an explanatory diagram illustrating an example of the time series relationship of image processing. Note that Fig. 3 is an explanatory diagram for facilitating understanding of image processing. Therefore, the configuration and operation of the astronomical imaging device 100 are not limited to those shown in Fig. 3.

[0039] 3 shows an example of image processing using captured images of the first to fourth frames constituting a moving image captured by the imaging unit 110. In the example shown in FIG. 3, the captured image of the first frame (i.e., the reference captured image) was captured at t0 seconds (corresponding to the reference time). The captured image of the second frame was captured at t1 seconds. The captured image of the third frame was captured at t2 seconds. The captured image of the fourth frame was captured at t3 seconds.

[0040] 3 shows an example in which a registered flying object X0 is included in a captured image. The image processing unit 123 (or the flying object identification unit 121) calculates a predicted trajectory of the registered flying object X0 based on the orbital element data of the registered flying object X0. Then, the image processing unit 123 sets a predicted trajectory area corresponding to the predicted trajectory of the registered flying object X0 in each captured image.

[0041] For example, as shown in Fig. 3, the image processing unit 123 sets a rectangular area consisting of a predetermined number of pixels as a predicted trajectory area in each captured image of the first to fourth frames. At this time, the image processing unit 123 sets the predicted trajectory area so that the predicted trajectory passes through the center of the predicted trajectory area and multiple predicted trajectory areas do not overlap each other. Note that the shape of the predicted trajectory area is not limited to a rectangle and may be any shape.

[0042] For example, the image processing unit 123 sets a predicted trajectory area X0t0-t0 in the captured image of the first frame captured at the reference time t0 so that the position of the predicted trajectory of the registered flying object X0 at the reference time t0 is at the center. The predicted trajectory area is set based on the predicted trajectory of the registered flying object. Therefore, if the prediction is inaccurate, the registered flying object may not appear in the predicted trajectory area of ​​the captured image.

[0043] The image processing unit 123 sets a predicted trajectory area X0t1-t0 in the captured image of the first frame along the predicted trajectory of the registered flying object X0. As shown in Fig. 3, the predicted trajectory area X0t1-t0 is set so that the predicted trajectory of the registered flying object X0 is positioned at the center and so as not to overlap with the predicted trajectory area X0t0-t0.

[0044] The image processing unit 123 also sets a predicted trajectory area corresponding to the predicted trajectory of the registered flying object X0 in each of the captured images of the second to fourth frames. FIG. 3 shows an example in which a predicted trajectory area X0t0-t1 is set as the first predicted trajectory area along the predicted trajectory of the registered flying object X0 in the captured image of the second frame captured at t1 second. FIG. 3 also shows an example in which a predicted trajectory area X0t0-t2 is set as the first predicted trajectory area along the predicted trajectory of the registered flying object X0 in the captured image of the third frame captured at t2 second. FIG. 3 also shows an example in which a predicted trajectory area X0t0-t3 is set as the first predicted trajectory area along the predicted trajectory of the registered flying object X0 in the captured image of the fourth frame captured at t3 second.

[0045] Hereinafter, a predicted trajectory area including the starting point of the predicted trajectory of a registered flying object (in other words, the predicted position at the reference time) is also referred to as a reference predicted trajectory area. For example, in the captured image of the first frame shown in FIG. 3, the predicted trajectory area X0t0-t0 corresponds to the reference predicted trajectory area. In the captured image of the second frame, the predicted trajectory area X0t0-t1 corresponds to the reference predicted trajectory area. In the captured image of the third frame, the predicted trajectory area X0t0-t2 corresponds to the reference predicted trajectory area. In the captured image of the fourth frame, the predicted trajectory area X0t0-t3 corresponds to the reference predictive trajectory area.

[0046] The image processing unit 123 determines whether the registered flying object X0 is captured in the reference predictive trajectory region of the reference captured image. If the registered flying object X0 is captured in the reference captured image, the image processing unit 123 identifies a captured image in which the registered flying object X0 has moved outside the reference predictive trajectory region from the multiple input captured images.

[0047] In the captured images of the first to third frames shown in Fig. 3, the registered flying object X0 is located within the reference predictive trajectory region. On the other hand, in the captured image of the fourth frame shown in Fig. 3, the registered flying object X0 is not located within the reference predictive trajectory region and has already moved outside the reference predictive trajectory region. Therefore, in the example shown in Fig. 3, the image processing unit 123 identifies the captured image of the fourth frame as a captured image in which the registered flying object X0 has moved outside the reference predictive trajectory region.

[0048] Hereinafter, a captured image that the image processing unit 123 identifies as a captured image in which a registered flying object has moved outside the reference predictive trajectory region is also referred to as a specific captured image. Fig. 3 shows an example in which captured images of the first to fourth frames are input and the captured image of the fourth frame is identified as the specific captured image. However, the present invention is not limited to this example. For example, the image processing unit 123 may input captured images of the first to tenth frames and identify the captured image of the fourth frame as the specific captured image.

[0049] The image processing unit 123 executes image processing to superimpose the reference predictive trajectory area of ​​the specific captured image on the reference predictive trajectory area of ​​the reference captured image. In the example shown in Fig. 3, the image processing unit 123 executes image processing to superimpose the reference predictive trajectory area of ​​the captured image of the fourth frame (i.e., the predictive trajectory area X0t0-t3) on the reference predictive trajectory area of ​​the captured image of the first frame (i.e., the predictive trajectory area X0t0-t0). By executing such processing, it is possible to remove the registered flying object from the reference captured image.

[0050] Furthermore, when an observation target is included in the reference predicted trajectory region of the specific captured image superimposed on the reference captured image, the image processing unit 123 executes image processing to correct the position of the observation target to the position at the reference time when the reference captured image was captured. In the example shown in Fig. 3, the image processing unit 123 executes image processing to correct the position of the observation target from the position at time t3 to the position at time t0. By executing such processing, the observation target can be displayed in the correct position.

[0051] The image processing unit 123 may specify only the reference predictive trajectory area as the predictive trajectory area in each captured image. Even in this configuration, the image processing unit 123 can specify a specific captured image in which a registered flying object has moved outside the reference predictive trajectory area, and can perform image processing to superimpose the reference predictive trajectory area of ​​the specific captured image on the reference predictive trajectory area of ​​the reference captured image.

[0052] Next, an overview of the operation of the astronomical imaging device 100 will be described. Fig. 4 is an explanatory diagram illustrating an example of the overview of the operation of the astronomical imaging device 100. Note that Fig. 4 is an explanatory diagram for facilitating understanding of the overview of the operation of the astronomical imaging device 100. Therefore, the configuration and operation of the astronomical imaging device 100 are not limited to those shown in Fig. 4. Also, the arrows in Fig. 4 simply indicate the direction of signal (data) flow, but do not exclude bidirectionality.

[0053] 4 illustrates a configuration in which imaging equipment (camera) corresponding to the imaging unit 110 is provided outside the astronomical imaging device 100. The items shown in (1) to (9) below correspond to the items shown in (1) to (9) in FIG.

[0054] (1) The imaging equipment (camera) shown in Fig. 4 inputs spatial information within the angle of view that indicates the imaging environment to the control unit 120. The spatial information within the angle of view includes information such as the latitude and longitude, altitude, direction, and angle of the imaging equipment (camera). The spatial information within the angle of view corresponds to supplementary information that indicates the imaging environment of the imaging unit 110.

[0055] (2) (3) The control unit 120 (e.g., the flying object identification unit 121) identifies a registered flying object that may be present within the imaging angle of view of the imaging equipment (camera) from the flying object catalog database 140 based on the coordinate information. The coordinate information is, for example, information that represents a spatial position corresponding to the imaging angle of view. The imaging angle of view is identified, for example, by spatial information within the angle of view. The control unit 120 (e.g., the flying object identification unit 121) extracts catalog information of the identified registered flying object from the flying object catalog database 140.

[0056] (4)(5) The control unit 120 (e.g., the flying object identification unit 121) acquires TLE data (i.e., orbital element data) from the monitoring server based on the catalog information of the registered flying objects. The monitoring server shown in Fig. 4 provides, for example, a service for identifying and monitoring artificial objects orbiting the Earth.

[0057] (6)(7) The control unit 120 (for example, the optimal imaging time specifying unit 122) acquires the optimal imaging time (y seconds) of the registered flying object from the optimal imaging time database 150. In addition, the control unit 120 (for example, the optimal imaging time specifying unit 122) outputs the acquired optimal imaging time (y seconds) to the imaging equipment (camera).

[0058] (8) The imaging equipment (camera) inputs images captured continuously from the reference time until the optimum imaging time y has elapsed to the astronomical imaging device 100.

[0059] The astronomical imaging device 100 (for example, the image processing unit 123 of the control unit 120) sets a predicted trajectory region corresponding to the predicted trajectory of the registered flying object that has been identified as possibly being present in the input captured image. The astronomical imaging device 100 (for example, the image processing unit 123 of the control unit 120) also determines whether the registered flying object is present in the set predicted trajectory region.

[0060] The astronomical imaging device 100 (for example, the image processing unit 123 of the control unit 120) performs image processing on the predicted orbit region of the captured image.

[0061] For example, when a registered flying object is present in the reference predictive orbit region of the reference captured image, the astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) identifies a specific captured image from the input multiple captured images in which no registered flying object is present in the reference predictive orbit region. The astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) also identifies the imaging time of the specific captured image. If the time from the reference time to the imaging time of the specific captured image is shorter than the optimal imaging time, the astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) determines that imaging of the target space-time has been successful. If the time from the reference time to the imaging time of the specific captured image is longer than the optimal imaging time, the astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) determines that imaging correction of the target space-time has failed.

[0062] The astronomical imaging device 100 (for example, the optimal imaging time specifying unit 122 of the control unit 120) calculates the optimal imaging time y based on the imaging result of the target space-time, i.e., whether it was successful or unsuccessful. The astronomical imaging device 100 (for example, the optimal imaging time specifying unit 122 of the control unit 120) also registers the calculated optimal imaging time y in the optimal imaging time database 150.

[0063] The astronomical imaging device 100 (for example, the image processing unit 123 of the control unit 120) performs image processing on the captured image captured at the imaging start time (that is, the reference captured image captured at the reference time).

[0064] For example, the astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) removes the registered flying object from the predictive orbit area of ​​the reference captured image by superimposing the reference predictive orbit area of ​​the specific captured image on the reference predictive orbit area of ​​the reference captured image. Furthermore, if the reference predictive orbit area of ​​the reference captured image includes an observation target, the astronomical imaging device 100 (e.g., the image processing unit 123 of the control unit 120) performs position correction so that the position of the observation target in the superimposed reference predictive orbit area matches its position at the reference time.

[0065] (9) The astronomical imaging device 100 (for example, the output unit 130) outputs the image processing results.

[0066] Next, we will explain the operation of the astronomical imaging device 100. Figures 5, 6, and 7 are flowcharts illustrating the operation of the astronomical imaging device 100. Note that the operation examples shown in Figures 5, 6, and 7 do not limit the operation of the astronomical imaging device 100 of the present disclosure.

[0067] The control unit 120 acquires the latitude and longitude of the location where the imaging unit 110 is installed, the altitude of the lens, and angles at four points of the angle of view (step S1). That is, the control unit 120 inputs additional information indicating the imaging environment of the imaging unit 110.

[0068] Next, the flying object identification unit 121 identifies artificial objects that may be present within the imaging field of view of the imaging unit 110 based on the catalog information of the registered flying objects and the TLE data (i.e., orbital element data) (for example, identifies X registered flying objects). Furthermore, the optimal imaging time identification unit 122 identifies an optimal imaging time y corresponding to the identified registered flying object (step S2). Note that in step S2, the flying object identification unit 121 may identify registered flying objects that may be present within the imaging field of view from the flying object catalog database 140 based on accompanying information that indicates the imaging environment of the imaging unit 110.

[0069] Next, the flying object identification unit 121 searches for TLE data corresponding to the scheduled image capturing time (for example, the reference time) from the monitoring server that monitors the trajectory of the registered flying object based on the catalog information of the registered flying object (step S3). That is, the flying object identification unit 121 executes a process for acquiring TLE data from the monitoring server.

[0070] If the information on the registered airborne object identified in step S2 does not exist in the monitoring server (No in step S4), the astronomical imaging device 100 executes the process of step S5. That is, the airborne object identification unit 121 sets an unregistered airborne object flag for the registered airborne object whose information does not exist in the monitoring server, and registers it in the airborne object catalog database 140 (step S5). A registered airborne object with an unregistered airborne object flag set is an airborne object that is registered in the airborne object catalog database 140 but is not registered as a monitoring target of the monitoring server. Then, the astronomical imaging device 100 ends the process. Note that the astronomical imaging device 100 may proceed to the process of step S7 after the process of step S5.

[0071] If the information on the registered airborne object identified in step S2 exists in the monitoring server (YES in step S4), but the TLE data of the registered airborne object at the scheduled imaging time does not exist in the monitoring server (NO in step S6), the astronomical imaging device 100 executes the process of step S7. That is, the airborne object identification unit 121 outputs information to the imaging unit 110 indicating that an artificial object to be removed could not be identified (step S7). Thereafter, the imaging unit 110 images the observation target. In this case, image processing to remove the artificial object is not executed on the captured image captured by the imaging unit 110.

[0072] If the information on the registered airborne object identified in step S2 exists in the monitoring server (YES in step S4) and the TLE data of the registered airborne object at the scheduled imaging time exists in the monitoring server (YES in step S6), the astronomical imaging device 100 executes the process of step S8. That is, the optimal imaging time identification unit 122 determines whether the imaging time (i.e., the optimal imaging time) required for image processing of the registered airborne object that may exist in space-time within the angle of view of the imaging unit 110 is registered in the optimal imaging time database 150 (step S8).

[0073] If the optimal imaging time corresponding to the identified registered flying object is registered in the optimal imaging time database 150, the optimal imaging time identifying unit 122 outputs an instruction to the imaging unit 110 to perform imaging for the optimal imaging time y (seconds) (step S9). If the optimal imaging time is not registered in the optimal imaging time database 150, the optimal imaging time identifying unit 122 outputs an instruction to the imaging unit 110 to perform imaging for the predetermined maximum imaging time y max An instruction to capture an image for (seconds) is output to the image capture unit 110 (step S10).

[0074] Based on an instruction from the optimal imaging time specifying unit 122, the imaging unit 110 determines the optimal imaging time y (or the maximum imaging time y) from the reference time. max ) has elapsed. The imaging unit 110 also inputs the captured images to the image processing unit 123 (step S11).

[0075] The image processing unit 123 calculates the time y (or y) from the reference time based on the TLE data of the registered flying object. max ) seconds later, the control unit 120 (e.g., image processing unit 123) calculates a predicted trajectory of the registered flying object in the captured image. In addition, the control unit 120 (e.g., image processing unit 123) sets a predicted trajectory area corresponding to the predicted trajectory for each registered flying object in the captured image (step S12). In step S12, the image processing unit 123 sets the predicted trajectory area so that the predicted trajectory is located at the center of the predicted trajectory area and the predicted trajectory areas do not overlap each other.

[0076] Next, the image processing unit 123 determines whether or not the specified x registered flying objects are present within the corresponding reference predictive trajectory areas in the reference captured image captured at the reference time (step S13). Note that the absence of a registered flying object within the reference predictive trajectory area means that the registered flying object cannot be detected from the reference predictive trajectory area of ​​the captured image.

[0077] If there is a registered flying object that is not within the reference predictive trajectory, the trajectory registration unit 124 determines whether any of the corresponding registered flying objects has an unregistered flying object flag set and is registered in the flying object catalog database 140 (step S14). If there is a registered flying object, the trajectory registration unit 124 proceeds to step S15, and if there is no registered flying object, the trajectory registration unit 124 proceeds to step S16.

[0078] The trajectory registration unit 124 registers the captured images of the registered flying objects for which the unregistered flying object flag is set at the image capturing times t0 to t z Then, the trajectory registration unit 124 registers the calculated trajectory in the monitoring server (step S15).

[0079] Next, the image processing unit 123 excludes from image processing any registered flying object that does not exist within the corresponding reference predictive trajectory area (step S16). In step S16, the image processing unit 123, for example, corrects the value x indicating the number of identified registered flying objects, and excludes the predictive trajectory area of ​​the corresponding registered flying object from processing. Thereafter, the astronomical imaging device 100 proceeds to step S17.

[0080] The image processing unit 123 determines the time when the registered flying object will leave the reference predicted trajectory region as t z In addition, the image processing unit 123 calculates the time from the reference time t0 to t z The equally spaced times t1, t2, t3, t z (step S17).

[0081] Next, the image processing unit 123 calculates t z Determine the time until the longest time, t max(z) (Step S18).

[0082] Next, the optimum imaging time registration unit 125 registers the identified t max(z) and the optimal imaging time y obtained in step S2, y>t max(z) It is determined whether the relationship is as follows (step S19).

[0083] y>t max(z) If the relationship is not satisfied (No in step S19), the optimal imaging time registration unit 125 determines that the imaging correction of the target space-time has failed. Then, the optimal imaging time registration unit 125 registers the spatiotemporal information captured this time by the imaging unit 110 and the optimal imaging time y in a database. The database to be registered may be the flying object catalog database 140 or the optimal imaging time database 150, or may be another database. Furthermore, the optimal imaging time registration unit 125 recalculates the optimal imaging time y based on the captured image input this time, and registers it in the optimal imaging time database 150 (step S20). Thereafter, the astronomical imaging device 100 ends the processing.

[0084] y>t max(z) If the relationship is satisfied (YES in step S19), the optimum imaging time registration unit 125 determines that imaging of the target space-time has been successful. max(z)is registered in a database. The database to be registered may be the flying object catalog database 140 or the optimum imaging time database 150, or may be another database. Furthermore, the optimum imaging time registration unit 125 recalculates the optimum imaging time y based on the captured image input this time, and registers it in the optimum imaging time database 150 (step S21).

[0085] Next, the image processing unit 123 performs image processing to superimpose the reference predictive trajectory area of ​​the specific captured image on the reference predictive trajectory area of ​​the reference captured image. Furthermore, if an observation target is included in the reference predictive trajectory area of ​​the specific captured image superimposed on the reference captured image, the image processing unit 123 performs image processing to correct the position of the observation target to the position at the reference time when the reference captured image was captured (step S22).

[0086] The image processing unit 123 executes image processing on all of the x registered flying objects present in the reference captured image (step S23).

[0087] The output unit 130 outputs information indicating the result of the image processing performed by the control unit 120 (step S24).

[0088] Next, the effects of this embodiment will be described. In this embodiment, the flying object identification unit 121 identifies flying objects that may be present within the imaging angle of view of the imaging unit 110, which images the celestial body being observed, based on additional information indicating the imaging environment of the imaging unit 110. The image processing unit 123 performs image processing to remove the flying object from the captured image captured by the imaging unit 110, based on the predicted trajectory of the flying object identified by the flying object identification unit 121. The output unit 130 then outputs information indicating the image processing result by the image processing unit 123. With this configuration, flying objects appearing in the captured image can be identified with high accuracy. As a result, the accuracy of removing artificial objects such as flying objects from the captured image can be improved.

[0089] In this embodiment, the image processing unit 123 sets a predicted trajectory area corresponding to the predicted trajectory of the flying object in multiple captured images captured at different times with the same imaging angle of view. The image processing unit 123 then superimposes a predicted trajectory area of ​​a second captured image (e.g., a reference predicted trajectory area of ​​a specific captured image) whose predicted trajectory area does not include the flying object on a predicted trajectory area of ​​a first captured image (e.g., a reference predicted trajectory area of ​​a reference captured image) whose predicted trajectory area includes the flying object. This configuration, unlike image processing that assimilates the object to be removed with the surrounding area, allows the flying object to be removed without damaging the state of the celestial object being observed. Even if the first captured image is captured such that the flying object obscures the celestial object being observed, an image in which only the celestial object being observed is present can be generated.

[0090] In this embodiment, the image processing unit 123 corrects the position of the celestial object to be observed, which is included in the predicted orbital region of the second captured image (for example, the reference predicted orbital region of the specific captured image), to the position at the time of capturing the first captured image (for example, the reference time). With this configuration, the celestial object to be observed can be displayed in the correct position.

[0091] The technical overview of the present disclosure can also be explained as follows. For example, an astronomical imaging device estimates an artificial flying object that appears in a captured image of a celestial object captured from the ground based on a flying object catalog database in which the artificial flying object is registered and the trajectory calculation results of the artificial flying object. Next, the astronomical imaging device performs image processing to assign, to a region of the captured image in which the artificial flying object appears, an image captured during a time period in which the artificial flying object was not present in the space corresponding to that region. By performing such processing, the astronomical imaging device can process the captured image so that the artificial flying object does not appear in the captured image. The astronomical imaging device can be applied not only to guided photography but also to photographing diurnal motion. For example, even when photographing diurnal motion, the astronomical imaging device removes from the captured image the trajectory of the artificial flying object registered in the flying object catalog database for the time elapsed since the reference time. By performing such processing, the astronomical imaging device generates an image that does not include unintended objects.

[0092] The technology disclosed herein has the following features. For example, during astronomical observation, an astronomical imaging device performs image processing to make it appear as if a flying object, such as an artificial satellite, does not appear in the captured image. Unlike typical image processing techniques that blend a target area into the surrounding background, the astronomical imaging device performs a process of assigning captured images captured during a time period when no flying object is present to the target area. As a result, it is possible to remove artificial objects from the captured image without compromising the state of the celestial object being observed.

[0093] The technology disclosed herein can solve the above-described problem as follows. For example, a camera (corresponding to the image capture unit 110 in the embodiment) sets the angle of view for capturing images. The camera outputs setting information including the set angle of view to a computer (corresponding to the control unit 120 in the embodiment). The computer identifies an optimal capture time for image processing based on the received setting information. The camera captures images within the angle of view continuously for the optimal capture time and outputs the captured images to the computer. The computer acquires information about flying objects such as artificial satellites from the captured image (information within the angle of view) transmitted initially and calculates a predicted trajectory of the flying object. The computer then performs image processing so that no artificial flying objects that should be captured within the angle of view are present and so that celestial objects that should be present are located in the correct positions when the image is captured. By performing such processing, the computer can generate an image in which only celestial objects are captured without any artificial objects present.

[0094] By applying the technology disclosed herein, even if an artificial satellite is launched into orbit from the Earth in the future, it will be possible to remove the artificial satellite from captured images, and it will also be possible to capture information about celestial bodies that actually exist from the Earth.

[0095] In addition, by applying the technology disclosed herein, it is possible to separately detect flying objects whose orbits are not publicly disclosed (for example, undisclosed artificial satellites and unregistered debris) by organizing the information collected through captured images. Furthermore, for flying objects that have been detected and become the subject of observation,z The trajectory can be calculated from the time trajectory and the trajectory can be tracked.

[0096] The technology disclosed herein can also be applied to an image capture device that is an orbiting satellite. For example, the image capture device can accurately determine its own position and trajectory using a Global Positioning System Receiver (GPSR), and can continuously capture a fixed space within its field of view during image capture. This configuration allows for image processing that is the same as capturing images on the ground.

[0097] 8 is a block diagram illustrating the configuration of a computer according to the present disclosure. A CPU 1000 executes processing in accordance with an astronomical imaging program stored in a storage device 1001, thereby realizing the functions of the astronomical imaging device 100 according to the above embodiment.

[0098] That is, the CPU 1000 executes processing in accordance with the astronomical imaging program stored in the storage device 1001, thereby realizing the functions of the imaging unit 110, control unit 120 (including the flying object identification unit 121, the optimal imaging time identification unit 122, the image processing unit 123, the orbit registration unit 124, and the optimal imaging time registration unit 125), and output unit 130 of the astronomical imaging device 100 shown in FIG.

[0099] The storage device 1001 is, for example, a non-transitory computer-readable medium. The non-transitory computer-readable medium includes various types of tangible storage media. Specific examples of the non-transitory computer-readable medium include semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), and flash ROM).

[0100] The memory 1002 is realized by, for example, a RAM (Random Access Memory), and is a storage means for temporarily storing data when the CPU 1000 executes processing.

[0101] Next, an overview of the present disclosure will be described. FIG. 9 is a block diagram illustrating the main components of an astronomical imaging device. The astronomical imaging device 10 (e.g., corresponding to astronomical imaging device 100) shown in FIG. 9 includes: flying object identification means 11 (realized by flying object identification unit 121 in the embodiment) that identifies flying objects that may be present within the imaging field of view of an imaging means (realized by imaging unit 110 in the embodiment) that images a celestial object to be observed, based on information indicating the imaging environment of the imaging means; image processing means 12 (realized by image processing unit 123 in the embodiment) that performs image processing to remove flying objects from captured images captured by the imaging means, based on the predicted trajectory of the flying object identified by the flying object identification means 11; and output means 13 (realized by output unit 130 in the embodiment) that outputs information indicating the image processing results by the image processing means 12. This configuration allows flying objects captured in captured images to be identified with high accuracy. As a result, the accuracy of removing artificial objects such as flying objects from captured images can be improved.

[0102] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Each embodiment can be combined with other embodiments as appropriate.

[0103] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0104] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0105] (Appendix 1) a flying object identification means for identifying flying objects that may be present within an imaging angle of view of an imaging means that images an observation target celestial body, based on information indicating an imaging environment of the imaging means; an image processing means for performing image processing to remove the flying object from the captured image captured by the imaging means based on the predicted trajectory of the flying object identified by the flying object identification means; and an output unit that outputs information indicating the image processing result by the image processing unit. An astronomical imaging device characterized by:

[0106] (Appendix 2) The image processing means sets a predicted trajectory area corresponding to the predicted trajectory of the flying object in a plurality of captured images captured at different times with the same imaging angle of view, and superimposes the predicted trajectory area of ​​the second captured image, the predicted trajectory area of ​​which does not include the flying object, on the predicted trajectory area of ​​the first captured image, the predicted trajectory area of ​​which includes the flying object. 10. The astronomical imaging apparatus according to claim 1.

[0107] (Appendix 3) The image processing means corrects the position of the celestial object to be observed included in the predicted orbit region of the second captured image to the position at the time of capturing the first captured image. 3. The astronomical imaging apparatus according to claim 2.

[0108] (Appendix 4) The second captured image is captured after the first captured image is captured. 4. The astronomical imaging apparatus according to claim 2 or 3.

[0109] (Appendix 5) an optimal imaging time specifying means for specifying, based on the flying object specified by the flying object specifying means, an optimal imaging time that is optimal for capturing a plurality of captured images required for image processing to remove the flying object from the captured images, The imaging means images the celestial body to be observed from a reference time until the optimal imaging time specified by the optimal imaging time specifying means has elapsed. An astronomical imaging device according to any one of Supplementary Note 1 to Supplementary Note 4.

[0110] (Appendix 6) an optimal imaging time registration means for registering information indicating the optimal imaging time calculated based on the image processing result by the image processing means in an optimal imaging time storage unit; The optimum imaging time specifying means specifies the optimum imaging time based on the information registered in the optimum imaging time storage unit. 6. The astronomical imaging apparatus according to claim 5.

[0111] (Appendix 7) The optimal imaging time specifying means specifies a predetermined maximum imaging time as the optimal imaging time when information corresponding to the flying object specified by the flying object specifying means is not registered in the optimal imaging time storage unit. 7. The astronomical imaging apparatus according to claim 6.

[0112] (Appendix 8) When a flying object is not included in a predicted trajectory area of ​​an image captured at a reference time, the image processing means excludes the flying object from the image processing. An astronomical imaging device according to any one of Supplementary Note 5 to Supplementary Note 7.

[0113] (Appendix 9) The computer Identifying a flying object that may be present within an imaging angle of view of an imaging unit based on information indicating an imaging environment of the imaging unit that images the celestial object to be observed; performing image processing to remove the flying object from the captured image captured by the imaging unit based on the predicted trajectory of the identified flying object; Outputs information showing the image processing results 1. An astronomical imaging method comprising:

[0114] (Appendix 10) On the computer, a flying object identification process for identifying flying objects that may be present within an imaging angle of view of an imaging unit that images an observation target celestial object based on information indicating an imaging environment of the imaging unit; image processing for removing the flying object from the captured image captured by the imaging unit based on the predicted trajectory of the identified flying object; and output processing for outputting information indicating the image processing results. Astronomical imaging program to run.

[0115] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 8 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Notes 9 and 10 in the same dependency relationship as Supplementary Notes 2 to 8. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0116] 10,100 astronomical imaging equipment 11 Projectile identification means 12 Image processing means 13 Output Method 110 Imaging unit 120 control section 121 Projectile Identification Section 122 Optimal imaging time determination unit 123 Image Processing Unit 124 Orbit Registration Unit 125 Optimal imaging time registration unit 130 Output section 140 Projectile Catalog Database 150 Optimal Imaging Time Database 1000 CPU 1001 Storage device 1002 memory

Claims

1. a flying object identification means for identifying flying objects that may be present within an imaging angle of view of an imaging means that images an observation target celestial body, based on information indicating an imaging environment of the imaging means; an image processing means for performing image processing to remove the flying object from the captured image captured by the imaging means based on the predicted trajectory of the flying object identified by the flying object identification means; and an output unit that outputs information indicating the image processing result by the image processing unit. An astronomical imaging device characterized by:

2. The image processing means sets a predicted trajectory area corresponding to the predicted trajectory of the flying object in a plurality of captured images captured at different times with the same angle of view, and superimposes the predicted trajectory area of ​​the second captured image, the predicted trajectory area of ​​which does not include the flying object, on the predicted trajectory area of ​​the first captured image, the predicted trajectory area of ​​which includes the flying object.

2. The astronomical imaging apparatus according to claim 1.

3. The image processing means corrects the position of the celestial object to be observed included in the predicted orbit region of the second captured image to the position at the time of capturing the first captured image.

3. The astronomical imaging apparatus according to claim 2.

4. The second captured image is captured after the first captured image is captured.

4. An astronomical imaging apparatus according to claim 2 or 3.

5. an optimal imaging time specifying means for specifying, based on the flying object specified by the flying object specifying means, an optimal imaging time that is optimal for capturing a plurality of captured images required for image processing to remove the flying object from the captured images, The imaging means images the celestial body to be observed from a reference time until the optimal imaging time specified by the optimal imaging time specifying means has elapsed.

3. An astronomical imaging apparatus according to claim 1.

6. an optimal imaging time registration means for registering information indicating the optimal imaging time calculated based on the image processing result by the image processing means in an optimal imaging time storage unit; The optimum imaging time specifying means specifies the optimum imaging time based on the information registered in the optimum imaging time storage unit.

6. An astronomical imaging apparatus according to claim 5.

7. The optimal imaging time specifying means specifies a predetermined maximum imaging time as the optimal imaging time when information corresponding to the flying object specified by the flying object specifying means is not registered in the optimal imaging time storage unit.

7. The astronomical imaging apparatus according to claim 6.

8. When a flying object is not included in a predicted trajectory area of ​​an image captured at a reference time, the image processing means excludes the flying object from the image processing.

6. An astronomical imaging apparatus according to claim 5.

9. The computer Identifying a flying object that may be present within an imaging angle of view of an imaging unit based on information indicating an imaging environment of the imaging unit that images the celestial object to be observed; performing image processing to remove the flying object from the captured image captured by the imaging unit based on the predicted trajectory of the identified flying object; Outputs information showing the image processing results 1. An astronomical imaging method comprising:

10. On the computer, a flying object identification process for identifying flying objects that may be present within an imaging angle of view of an imaging unit that images an observation target celestial object based on information indicating an imaging environment of the imaging unit; image processing for removing the flying object from the captured image captured by the imaging unit based on the predicted trajectory of the identified flying object; and output processing for outputting information indicating the image processing results. Astronomical imaging program to run.

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