Imaging control apparatus, imaging control method, and storage medium

Abstract

To obtain proper exposure while suppressing an increase in noise when fog or haze is removed by a DCP method.SOLUTION: An imaging control apparatus comprising: an acquisition unit configured to acquire an image; a calculation unit configured to calculate a parameter relating to an atmospheric transmittance from the image; a determination unit configured to determine a program diagram to be used for control of exposure of an imaging unit from among a plurality of program diagrams based on the parameter calculated by the calculation unit; and a control unit configured to control the imaging unit to perform imaging using the program diagram determined by the determination unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an imaging control device, an imaging control method, a program, and a storage medium. [Background technology]

[0002] Surveillance cameras have traditionally been used as a crime prevention measure. Surveillance cameras are installed in a variety of environments, and it is desirable for them to provide highly visible images. However, when fog or haze occurs in the surveillance camera's shooting environment, the contrast of the subject decreases, resulting in images with poor visibility. To obtain highly visible images even in such foggy or hazy shooting environments, a technique for enhancing contrast when fog or haze is present is known.

[0003] Another technique for obtaining highly visible images involves estimating and eliminating atmospheric light scattering. There are two types of atmospheric light scattering. One is Mie scattering, which is caused by particles with a diameter larger than the wavelength of light, such as dust, dirt, and water vapor particles. Because Mie scattering occurs regardless of the wavelength of light, distant objects appear whiter due to reduced contrast. The other is Rayleigh scattering, which scatters light with shorter wavelengths, such as air molecules, more effectively. Therefore, the light that reaches the eye after scattering is more blue, resulting in an overall bluer appearance for distant objects. One technique for correcting images with reduced visibility due to scattering is to improve contrast by using a dark channel image, which extracts the minimum pixel value in all RGB channels within a specified range around each pixel of interest. This method of improving visibility using a dark channel image is called the DCP (Dark Channel Prior) method.

[0004] However, images that have been defrosted using the DCP method generally have reduced image brightness. For example, when defrosting using the DCP method is performed on an image whose exposure has been properly adjusted in the camera, the image brightness decreases, making it difficult to obtain a proper exposure. Therefore, Patent Document 1 discloses a technology that uses an exposure enhancement function to enhance the exposure of an image that has been defrosted using the DCP method, thereby restoring the image brightness and obtaining a proper exposure. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6024753 Summary of the Invention [Problem to be solved by the invention]

[0006] The problem to be solved by the present invention is to obtain appropriate exposure while suppressing an increase in noise when performing demisting using the DCP method. [Means for solving the problem]

[0007] In order to solve the above problem, an imaging control device according to one aspect of the present invention is characterized by having an acquisition means for acquiring an image, a calculation means for calculating parameters related to atmospheric transmittance from the image, a determination means for determining from a plurality of program charts a program chart to be used for controlling the exposure of the imaging means based on the parameters calculated by the calculation means, and a control means for controlling the imaging means to capture an image using the program chart determined by the determination means. [Effects of the Invention]

[0008] According to the present invention, when performing demisting using the DCP method, it is possible to obtain appropriate exposure while suppressing an increase in noise. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of an image processing device. [Figure 2] 10 is a flowchart showing processing by the image processing device. [Figure 3] FIG. 10 is a diagram showing an example of a first program diagram. [Figure 4] FIG. 10 is a diagram showing an example of a second program diagram. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are examples of means for realizing the present invention, and should be appropriately modified or changed depending on the configuration of the device to which the present invention is applied and various conditions. The present invention is not limited to the following embodiments. Furthermore, a configuration may be made by appropriately combining parts of each embodiment described below.

[0011] (Device configuration) The device configuration of an image processing device (imaging control device) according to this embodiment will be described. Fig. 1 is a diagram showing the device configuration of the image processing device according to this embodiment. The blocks shown in Fig. 1 are connected to each other via an internal bus 115, allowing data to be exchanged between them.

[0012] The optical lens 101 (imaging means) is an optical element consisting of a lens and a motor for driving the lens. The optical lens 101 operates based on a control signal and can optically enlarge or reduce an image and adjust the focal length, etc. Furthermore, if it is desired to adjust the amount of incident light, the amount of light can be adjusted to achieve the desired brightness by controlling the aperture area of ​​the iris. The light that passes through the lens forms an image on the imaging element 102.

[0013] The image sensor 102 (imaging means) uses a CCD sensor, CMOS sensor, or the like, and serves to convert optical signals into electrical signals. The image sensor 102 is driven based on a control signal, resetting the charge in the pixels and controlling the readout timing. It also has the function of performing gain processing on pixel signals read out as electrical analog signals (voltage values) and converting analog signals into digital signals.

[0014] The image processing unit 103 performs various image processing on the image output from the image sensor 102. For example, it can correct the amount of light in the peripheral areas of the image caused by the characteristics of the optical lens 101, correct sensitivity variations between pixels of the image sensor 102, and perform color correction and flicker correction. It also has a function of performing sharpening processing using parameters related to transmittance generated by the transmittance parameter generation unit 104, the details of which will be described later. The transmittance parameter generation unit 104 generates parameters related to the transmittance of the subject and atmospheric light for sharpening the image using the DCP method. The DCP method will be described in detail later.

[0015] In automatic exposure control, the exposure control unit 109 detects the brightness of the image, and automatically controls the aperture, shutter speed, and gain to achieve the appropriate brightness, while in manual exposure control, it detects the brightness of the image and calculates a value indicating how bright the current situation is compared to the appropriate brightness.

[0016] The frame memory 108, commonly called RAM (Random Access Memory), is a device that temporarily stores video signals and can be read out when needed. Because video signals contain a huge amount of data, high-speed, high-capacity memory is required. In recent years, Dual Data Rate 4-Synchronous Dynamic RAM (DDR4-SDRAM) and other memory types have become common. The frame memory 108 enables a variety of processing operations. It is an essential device for image processing, such as combining temporally different images or extracting only the required areas.

[0017] There is a CPU 105 as a central processing unit (CPU) for controlling each function of the image processing device 100. To drive the CPU 105, a read only memory (ROM) and a RAM are connected.

[0018] The ROM 110 is a non-volatile element that stores programs for operating the CPU 105, various adjustment parameters, etc. Programs read from the ROM 110 are expanded into the volatile RAM 111 and executed by the CPU 105. The RAM 111 provides a work area for the CPU 105.

[0019] The image generated by the image processing unit 103 is output to the outside of the image processing device 100 via a video output driving unit 106 and a video terminal 107. Typical interfaces include SDI (Serial Digital Interface) and HDMI (High Definition Multimedia Interface) (registered trademark). There are also various other interfaces such as DisplayPort (registered trademark), which make it possible to display real-time images on an external monitor, etc. Furthermore, the image generated by the image processing unit 103 is displayed on a display device via a display driving unit 113 and a display unit 114.

[0020] The display unit 114 is a display device that can be viewed by the user. For example, it can display images processed by the image processing unit 103, setting menus, and the like, allowing the user to check the operating status of the image processing device 100. In recent years, the display unit 114 has utilized small, low-power devices such as LCDs (Liquid Crystal Displays) and organic EL (Electroluminescence) displays. Furthermore, the display unit 114 may also be equipped with a resistive or capacitive thin-film element known as a touch panel. The CPU 105 generates text to inform the user of the setting status of the image processing device 100 and menus for setting the image processing device 100, and displays these on the display unit 114, superimposed on the image processed by the image processing unit 103. In addition to text information, it is also possible to superimpose shooting assist displays such as a histogram, vectorscope, waveform monitor, zebra, peaking, and false color.

[0021] (Transmittance calculation process) Next, we will explain the details of the processing performed by the transmittance parameter generating unit 104. First, an image I in which fog or mist is present and an image J after the fog or mist removal are related by an atmospheric model such as equation (1). I(x,y)=J(x,y)·t(x,y)+A(1-t(x,y)) Equation (1) x and y are two-dimensional coordinate positions in the horizontal and vertical directions within the image, t is the transmittance map of fog or haze, and A is atmospheric light. Here, the transmittance map t(x, y) represents attenuation due to the atmosphere; the farther the subject is from the image processing device 100, the greater the amount of attenuation (pixel value), and the closer the subject is, the smaller the amount of attenuation (pixel value). In equation (1), by estimating atmospheric light A and the transmittance map t(x, y), it is possible to calculate J(x, y) after fog and haze have been removed. First, a method for estimating ambient light A will be explained using mathematical formulas. Ambient light A is calculated for each RGB color. Therefore, atmospheric light A(c) for each color is expressed by the following equation (2).

[0022]

number

[0023] The ave function is a function that calculates the average value of the arguments, c represents a color component, and Ωsky represents a local region within the sky region. Here, the sky region can be identified by, for example, a method of calculation based on a histogram distribution, a method using a pre-specified coordinate position, or a method using a position specified by a user. Here, the ambient light A(c) is estimated using an image I(x, y, c) containing fog or haze. However, the average value of the local region of Ωsky may also be calculated using the dark channel value Idrk(c) described below. Alternatively, instead of identifying the sky region, the ambient light A(c) may be the average of the top 10% of the dark channel values ​​Idrk(x, y, c) described below. Here, the top 10% is used, but this is not limiting and any predetermined number of pixels may be used.

[0024] Next, the dark channel Idrk(x, y, c) for each color is expressed by the following equation (3).

[0025]

number

[0026] c represents the color component, and when C=1 it indicates the R image, when C=2 it indicates the G image, and when C=3 it indicates the B image. Ω indicates the local region containing the target coordinates (x, y, c). As shown in equation (3), the dark channel value is the minimum value within the local region containing the target pixel. By substituting the dark channel calculation formula (3) into the atmospheric model (1), equation (4) is obtained, which calculates the dark channel value for each RGB color from the atmospheric model. Idrk(c)=Jdrk(x,y,c)·t(x,y,c)+A(1-t(x,y,c)) Equation (4) Here, if we consider the premise that in an image without fog or haze, the pixel values ​​of color components are locally small, the dark channel value Jdrk(x, y, c) of the defrosted image in equation (4) will be very close to 0. Therefore, equation (4) can be approximated as equation (5). Jdrk(x,y,c)≒A(1-t(x,y,c)) Equation (5) By modifying the approximation formula of formula (5), it is possible to estimate the transmittance map t(x, y, c) for each color of RGB as in formula (6).

[0027]

number

[0028] Here, ω is a parameter that controls the degree of mist and haze correction and is defined in the range of 0.0 to 1.0, with larger values ​​resulting in a stronger correction effect for mist and haze.By substituting the airglow A(c) and transmittance map t(x, y, c) calculated using equations (2) to (6) described above into equation (7), it is possible to find J(x, y, c) after mist and haze have been removed.

[0029]

number

[0030] Next, equation (7) is calculated using the estimated airglow value A(c) calculated for each color and the transmittance map t(x, y, c). This allows for the generation of an image non(x, y) (hereinafter referred to as a scattering-free image) in which the components corresponding to Mie scattering (hereinafter referred to as Mie scattering components) and the components corresponding to Rayleigh scattering (hereinafter referred to as Rayleigh scattering components) have been removed. Furthermore, equation (7) is calculated using the estimated airglow value A(c) calculated for each color and the minimum value of the transmittance map t(x, y, c) to generate an image in which the Mie scattering components have been removed (hereinafter referred to as a Mie-scattered image). Furthermore, the Mie scattering component mie(x, y, c) can be extracted by subtracting the image in which the Mie scattering components have been removed from the original image acquired from the image sensor 102. Furthermore, the Rayleigh scattering component ray(x, y, c) can be extracted by subtracting the scattering-free image and the Mie scattering components from the original image acquired from the image sensor 102. By dividing the extracted Mie scattering component and Rayleigh scattering component by the original image acquired from the image sensor 102, the relative values ​​of the Mie scattering component and the Rayleigh scattering component can be calculated.

[0031] J(x,y,c)=non(x,y,c)+Wray·ray(x,y,c)+Wmie·mie(x,y,c) Equation (8) Here, Wray is the correction coefficient parameter for the Rayleigh scattering component, and Wmie is the correction coefficient parameter for the Mie scattering component. Both correction coefficient parameters are defined in the range of 0.0 to 1.0. The smaller the value of the correction coefficient parameter, the smaller the correction amount for the scattering component after defog / haze removal, allowing for a stronger correction effect for fog and haze. In addition, by correcting the Rayleigh scattering component and the Mie scattering component separately, it is possible to obtain a post-defog / haze removal J(x, y, c) that suppresses adverse effects such as color caused by defog / haze removal.

[0032] (Operation description) 2 to 4, the image processing device 100 will explain its demisting and exposure control processes based on the transmittance map results. The flowchart in FIG. 2 starts after the image processing device 100 is started. Alternatively, a menu or camera OSD (On Screen Display) may be provided with an option for setting whether to perform demisting and an option for setting an exposure control mode. The process starts when a user sets demisting and automatic exposure control via the operation unit 112. This flowchart is repeatedly executed when both the demisting and automatic exposure control modes are selected. If these combinations are not selected, the processes from steps S205 to S208 are not executed. Furthermore, the execution of the processes from steps S205 to S208 in this flowchart may be switched depending on whether the exposure of the demisted image is prioritized. For example, if the video terminal 107 outputs two video streams, one with and one without demisting, the processes from steps S205 to S208 in this flowchart are executed only when the demisting image is the primary video output. Each process shown in this flowchart is realized by loading a program stored in the ROM 110 into the RAM 111 and executing it by the CPU 105.

[0033] In step S201, the CPU 105 (acquisition means) acquires an image from the image sensor .

[0034] In step S202, the exposure control unit 109 (evaluation means) calculates an exposure evaluation value from the image acquired in step S201. For example, an item for setting a photometry method is provided in a menu, and the exposure evaluation value is calculated by multiplying the luminance value of each pixel by a coefficient corresponding to the pixel position of the image according to the selected photometry method. Alternatively, the exposure evaluation value may be calculated only from pixels in a predetermined region of the image.

[0035] In step S203, the transmittance parameter generating unit 104 calculates estimated airglow values ​​for each color from the images acquired in step S201 using the DCP method.

[0036] Next, in step S204, the transmittance parameter generating unit 104 generates a transmittance map for each color using the DCP method from the image acquired in step S201 and the estimated airglow value calculated in step S203.

[0037] Next, in step S205, CPU 105 (calculation means) calculates a transmittance map evaluation value from the transmittance map generated in step S204. Here, the transmittance map evaluation value is an index that represents the transmittance state of fog or haze in the image. Specifically, the transmittance map evaluation value is the average value of all pixels in the transmittance map. Alternatively, the average value for each R, G, and B channel of the transmittance map may be calculated. Alternatively, the transmittance map value for each pixel may be multiplied by a coefficient corresponding to the pixel position of the image according to the photometry method, and the averaged value may be used as the evaluation value. Alternatively, the transmittance map evaluation value may be calculated only from pixels in the same area as the area used to calculate the exposure evaluation value. Alternatively, the transmittance map evaluation value may be the average value of multiple calculations, including past calculation results.

[0038] Next, in step S206, CPU 105 determines whether the transmittance map evaluation value calculated in step S205 is equal to or greater than a predetermined threshold. The larger the transmittance map evaluation value, the stronger the correction effect of defogging. Therefore, if the transmittance map evaluation value is equal to or greater than the predetermined threshold, it is determined that the correction effect of defogging is weak, and the process proceeds to step S207. If the transmittance map evaluation value is less than the threshold, it is determined that the correction effect of defogging is strong, and the process proceeds to step S208. If the transmittance map evaluation value was calculated for each of the R, G, and B channels in step S205, it may be determined whether only a specific channel is equal to or greater than the predetermined threshold, for example, by determining only the G channel evaluation value. Alternatively, it may be determined whether any one of the R, G, and B channels is equal to or greater than a predetermined threshold, and the amount of correction by defogging may be determined based on the result. In addition to the transmittance map evaluation value, a menu or camera OSD may be provided with an option for setting the intensity of defogging, and the determination may be based on the intensity setting of defogging. In this case, if the defogger / haze strength is strong, the process proceeds to step S208; if the defogger / haze strength is weak, the process proceeds to step S207. For example, the defog / haze strength setting is a setting that adjusts ω, the defog / haze correction strength parameter in equation (6), or Wray and Wmie, the scattering component correction coefficient parameters in equation (8). Step S206 may be performed at a slower cycle than this flowchart, such as once every 60 times, to prevent repeated program chart changes when the subject changes and reduce their impact on the image. While this embodiment has been described using an example in which two program charts are selected for a predetermined threshold, two or more predetermined thresholds may be provided, and three or more program charts may be selected.

[0039] In step S207, the CPU 105 loads the first program diagram stored in the ROM 110 into the RAM 111. Here, the first program diagram is a program diagram used when it is determined in step S206 that the correction effect of the demist / haze reduction is weak. For example, this is setting value data for the aperture, shutter speed, and gain corresponding to the exposure evaluation value as shown in FIG. 3.

[0040] Next, in step S208, the CPU 105 loads the second program chart stored in the ROM 110 into the RAM 111. The second program chart is used when the correction effect of the demisting process is determined to be strong in step S206. For example, the second program chart is the aperture, shutter speed, and gain setting data corresponding to the exposure evaluation value, as shown in FIG. 4. The second program chart is characterized by a longer shutter speed, a wider aperture, and a lower gain setting compared to the first program chart for the same exposure evaluation value. Similarly, when selecting three or more program charts, the lower the transmittance map evaluation value, the lower the gain setting. Therefore, the stronger the correction effect of the demisting process, the lower the gain setting. This makes it possible to suppress noise increases while ensuring proper exposure. Furthermore, the exposure control setting is not limited to automatic exposure control. Program charts with similar characteristics may also be used in Av mode, which prioritizes aperture control, or Tv mode, which prioritizes shutter speed control. Furthermore, when the gain setting is realized by combining the analog gain and digital gain of the sensor, the second program diagram may be characterized in that the digital gain is set to a lower value compared to the first program diagram.

[0041] By the processing of steps S206 to S208, an appropriate program diagram is determined from among a plurality of program diagrams based on the parameters relating to the atmospheric transmittance calculated in step S205.

[0042] In step S209, the exposure control unit 109 (control means) performs exposure control using the program chart expanded in the RAM 111 in step S207 or step S208. Specifically, the aperture, shutter, and gain are controlled based on the exposure evaluation value calculated in step S202 and the program chart so that the image has appropriate brightness. In other words, the optical lens 101 and image sensor 102, which are imaging means, are controlled so that an image is captured using the determined program chart.

[0043] In step S210, the image processing unit 103 performs dehazing on the image acquired in step S201 using the estimated airglow value calculated in step S203 and the transmittance map generated in step S204.

[0044] In addition, in this embodiment, an example has been described in which the exposure control processing in step S209 is performed followed by the defogging processing in step S210, but the exposure control processing may also be performed after the defogging processing.

[0045] The technology disclosed in Patent Document 1 uses an exposure enhancement function to restore image brightness that has been reduced by de-misting using the DCP method. However, using the exposure enhancement function to correct brightness also increases image noise, resulting in degradation of image quality. Furthermore, even when de-misting an image that has been exposure-corrected to account for the reduction in brightness due to de-misting, the noise caused by de-misting can become more noticeable.

[0046] On the other hand, with the imaging control device according to this embodiment, a program diagram with a lower gain is selected using the transmittance map when the correction effect of defogging is stronger, making it possible to obtain appropriate exposure while suppressing the increase in noise that occurs when defogging is performed.

[0047] While the present invention has been described in detail above based on preferred embodiments thereof, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Parts of the above-described embodiments may be combined as appropriate.

[0048] For example, as a modified example of this embodiment, a system in which the imaging device and the imaging control device are separate devices and capable of communicating with each other is conceivable. In this case, the imaging device incorporating the optical lens 101 and the image sensor 102 serves as an imaging unit, and the imaging control device acquires an image captured by the imaging device and executes the operations of the flowchart in FIG. 2 . Then, in step S209, the imaging device is instructed via a network to perform exposure control using the program chart determined by the determination unit. In this case, the storage medium storing multiple program charts may be located in either the imaging device or the imaging control device. If the storage medium is incorporated in the imaging control device, the imaging control device determines the shutter speed, aperture, and gain based on the determined program chart and images acquired from the imaging device. The determined imaging parameters are then output to the imaging device via the network. Furthermore, if a storage medium storing multiple program charts is incorporated in the imaging device, index values ​​for referencing the program charts are associated and stored. Then, in step S209, the imaging control device outputs an index value corresponding to the determined program chart to the imaging device via the network. This allows the imaging device to be instructed on the program chart to be used.

[0049] The present invention also includes cases where a software program that realizes the functions of the above-described embodiments is supplied to a system or device having a computer that can execute the program directly from a recording medium or via wired / wireless communication, and the program is executed.

[0050] Therefore, the program code itself that is supplied to and installed on a computer to realize the functional processing of the present invention also realizes the present invention. In other words, the computer program itself for realizing the functional processing of the present invention is also included in the present invention.

[0051] In this case, as long as it has the functionality of a program, the form of the program does not matter, such as object code, a program executed by an interpreter, or script data supplied to an OS.

[0052] The recording medium for supplying the program may be, for example, a hard disk, a magnetic recording medium such as a magnetic tape, an optical / magneto-optical storage medium, or a non-volatile semiconductor memory.

[0053] Another method of supplying the program is to store the computer program forming the present invention in a server on a computer network, and have connected client computers download the computer program. [Explanation of symbols]

[0054] 100 Image processing device 101 Optical Lens 102 Imaging device 103 Image processing section 104 Transmittance parameter generator 105 CPU 106 Video output driver 107 Video terminal 108 Frame Memory 109 Exposure control unit 110 ROM 111 RAM 112 Operation section 113 Display driver 114 Display section

Claims

1. an acquisition means for acquiring an image; a calculation means for calculating a parameter relating to atmospheric transmittance from the image; a determining means for determining, based on the parameters calculated by the calculating means, a program chart to be used for controlling exposure of an image capturing means from among a plurality of program charts; a control means for controlling the imaging means so as to perform imaging using the program chart determined by the determination means; An imaging control device comprising:

2. 2. The imaging control device according to claim 1, wherein the parameter relating to the atmospheric transmittance is an average value of a transmittance map.

3. 3. The imaging control device according to claim 2, wherein the determining means determines a program diagram with a lower gain setting as the average value of the transmittance map decreases.

4. 3. The imaging control device according to claim 2, wherein the plurality of program charts include a first program chart and a second program chart, and when an average value of the transmittance map is equal to or greater than a predetermined threshold, the first program chart is determined as the program chart to be used for controlling the exposure of the imaging means, and when the average value of the transmittance map is not equal to or greater than the predetermined threshold, the second program chart is determined as the program chart to be used for controlling the exposure of the imaging means.

5. 5. The imaging control device according to claim 4, wherein, for the same exposure evaluation value, the gain setting value in the second program chart is smaller than the gain setting value in the first program chart.

6. 5. The imaging control device according to claim 4, wherein, for the same exposure evaluation value, the shutter speed setting value in the second program diagram is set to a longer value in seconds than the shutter speed setting value in the first program diagram.

7. 5. The imaging control device according to claim 4, wherein, for the same exposure evaluation value, the aperture setting value in the second program chart is smaller than the aperture setting value in the first program chart.

8. evaluation means for calculating an exposure evaluation value from the acquired image; a control means for controlling exposure based on the program chart determined by the determination means and the exposure evaluation value; 2. The imaging control device according to claim 1, further comprising:

9. 2. The imaging control device according to claim 1, wherein the parameter relating to atmospheric transmittance is a value calculated based on a transmittance map and a coefficient corresponding to a pixel position when the exposure evaluation value is calculated.

10. 2. The imaging control device according to claim 1, wherein the parameter relating to the atmospheric transmittance is an evaluation value calculated based on a transmittance map and an area used for calculating an exposure evaluation value.

11. 2. The imaging control device according to claim 1, wherein the determining means determines a program chart used to control the exposure of the imaging means based on a parameter relating to the strength of defogging.

12. 9. The imaging control device according to claim 8, wherein the determination of the program chart by said determination means is executed at a slower cycle than the exposure control by said control means.

13. 2. An imaging control device according to claim 1, further comprising storage means for storing the plurality of program charts.

14. 2. The imaging control device according to claim 1, wherein the plurality of program charts have different setting values ​​for at least one of aperture, shutter speed, and gain.

15. an acquisition step of acquiring an image; a calculation step of calculating a parameter related to atmospheric transmittance from the image; a determination step of determining, from a plurality of program charts, a program chart to be used for controlling exposure of an image capturing means, based on the parameters calculated in the calculation step; a control step of controlling the imaging means so as to perform imaging using the program diagram determined in the determination step; An imaging control method comprising:

16. A program for causing a computer to execute the imaging control method according to claim 15.

17. A computer-readable storage medium storing the program according to claim 16.

Images