Imaging apparatus, imaging method, and program

Abstract

To appropriately determine whether or not to adjust a focus position.SOLUTION: The imaging device 100 includes an image sensor, an object information acquiring unit that acquires three dimensional position information of an object present in an imaging area AR0 of the image sensor, a target area acquiring unit that sets a three dimensional target area AR based on position information of a reference object B acquired by the object information acquiring unit, and a focus position control unit that determines whether an object other than the reference object B satisfies a predetermined condition when the object is present in the target area AR.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] There is known an autofocus imaging device that automatically sets the focal position. Patent Document 1 describes that the focus is adjusted to a predetermined position designated by the user. do. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 141746 Summary of the Invention [Problem to be solved by the invention]

[0004] In an autofocus imaging device, it is required to appropriately determine whether or not to focus.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide an imaging apparatus, an imaging method, and a program that are capable of appropriately determining whether to adjust the focus. [Means for solving the problem]

[0006] An imaging device according to one aspect of the present invention is an imaging device capable of capturing an image of an object, comprising an imaging element and an object information acquisition unit that acquires three-dimensional position information of an object present in the imaging area of ​​the imaging element; a target area acquisition unit that sets a three-dimensional target area based on the position information of a reference object acquired by the object information acquisition unit; and, if an object other than the reference object is present within the target area, determines whether the object satisfies predetermined conditions.

[0007] An imaging method according to one aspect of the present invention is an imaging method for imaging an object, the imaging method comprising: The method includes a step of acquiring three-dimensional position information of a present object, a step of setting a three-dimensional target area based on the position information of a reference object acquired in the step of acquiring the position information of the object, and a step of determining whether an object other than the reference object exists within the target area, if the object satisfies a predetermined condition.

[0008] A program according to one aspect of the present invention is a method for imaging an object, the method comprising: a step of acquiring position information of an object present in an imaging area; The computer is caused to execute the steps of: setting a three-dimensional target area based on the position information of a reference object acquired in the step of acquiring the three-dimensional position information of the object; and, if an object other than the reference object exists within the target area, determining whether the object satisfies predetermined conditions. [Effects of the Invention]

[0009] According to the present invention, it is possible to appropriately determine whether or not to adjust the focus. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic block diagram of an imaging device according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of a target region. [Figure 3] FIG. 3 is a schematic diagram illustrating an example of a target region. [Figure 4] FIG. 4 is a schematic diagram showing an example in which a plurality of reference objects are set. [Figure 5] FIG. 5 is a flowchart illustrating the process flow for setting the focal position. [Figure 6] FIG. 6 is a schematic diagram illustrating an example of a target region according to the second embodiment. [Figure 7] FIG. 7 is a flowchart illustrating the process flow for setting the focal position. [Figure 8] FIG. 8 is a schematic diagram illustrating an example in which the motion of an object is set as a predetermined condition. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments.

[0012] (First embodiment) (Configuration of imaging device) FIG. 1 is a schematic block diagram of an imaging device according to a first embodiment. The imaging device 100 is an imaging device that captures an image of an object within an imaging range. The imaging device 100 is an autofocus camera that can automatically set the focal position. It may be a video camera that captures moving images by capturing images at predetermined frames, or a still image. The imaging device 100 may be used for any purpose. For example, the camera may be used as a surveillance camera set at a predetermined position inside a facility or outdoors.

[0013] As shown in FIG. 1, the imaging device 100 includes an optical element 10, an imaging element 12, and an image processing circuit. path 13, object position measurement unit 14, input unit 16, display unit 18, communication unit 20, and memory unit 22 and a control unit 24.

[0014] The optical element 10 is an element of an optical system such as a lens. It may be one or more.

[0015] The image sensor 12 converts the light incident through the optical device 10 into an image signal, which is an electrical signal. The image sensor 12 is, for example, a CCD (Charge Coupled Device). vice) sensors and CMOS (Complementary Metal Oxide) Semiconductor sensors, etc.

[0016] The image processing circuit 13 converts the image signal generated by the image sensor 12 into image data for each frame. Image data is generated by storing, for example, the brightness and color information of each pixel in one frame. The data may include a gray scale, and may be data to which a gray scale is assigned for each pixel.

[0017] The object position measuring unit 14 measures the position of the object to be measured relative to the image capturing device 100 (the position of the object The object here can be any object, even a living thing. The object here may be a living thing or an inanimate object, and this also applies hereafter. It may refer to a movable object, but is not limited to this and may also refer to an immovable object.

[0018] In this embodiment, the object position measurement unit 14 uses the image pickup device 100 as the relative position of the object. The object position measurement unit 14 measures the distance to the object. The sensor may be, for example, a TOF (Time Of Flight) sensor. In the case where the object position measuring unit 14 is a TOF sensor, for example, The element (for example, an LED (Light Emitting Diode)) and the receiver that receives the light A light receiving section is provided, and the time of flight of light that is irradiated from the light emitting element to the object and returned to the light receiving section is measured. The object position measuring unit 14 measures the distance to the object by using the relative position of the object. In addition to measuring the distance from the image capture device 100 to the object, for example, The object position measuring unit 14 may also measure the direction in which the object is present. The position (coordinates) of an object in a coordinate system with 00 as the origin is measured as the relative position of the object. Good too.

[0019] The input unit 16 is a mechanism for accepting input (operation) from the user, and includes, for example, buttons, keys, etc. The display device may be a keyboard, a touch panel, or the like.

[0020] The display unit 18 is a display panel that displays an image. In addition to the captured image, it is also possible to display an image for the user to set the target area AR, which will be described later. That's fine.

[0021] The communication unit 20 is a communication module that communicates with an external device, and may be, for example, an antenna or Wi-Fi. The imaging device 100 may be an external device such as a .I-Fi (registered trademark) module. Communication with the device is performed, but wired communication may be used, and any communication method may be used.

[0022] The storage unit 22 stores various data such as captured image data, calculation contents and programs of the control unit 24, etc. A memory that stores information, such as RAM (Random Access Memory) ry), main memory such as ROM (Read Only Memory), and HDD and at least one external storage device such as a hard disk drive. The program for the control unit 24 stored in the storage unit 22 is readable by the imaging device 100. It may be stored on a recording medium.

[0023] The control unit 24 is a computing device, for example, a CPU (Central Processing Unit). The control unit 24 includes an arithmetic circuit such as a target area acquisition unit 30 and an object information acquisition unit. The image capturing system includes an acquisition unit 32, a focus position control unit 34, an imaging control unit 36, and an image acquisition unit 38. The control unit 24 reads out and executes a program (software) from the storage unit 22. , a target area acquisition unit 30, an object information acquisition unit 32, a focus position control unit 34, an imaging control unit 36, and an image The control unit 24 realizes the image acquisition unit 38 and executes the processing. These processes may be executed by a single CPU, or multiple CPUs may be provided and executed by multiple Cs. The processing may be performed by the PU. At least part of the processing of the position control unit 34, the imaging control unit 36, and the image acquisition unit 38 is performed by hardware. It may also be realized by a hardware circuit.

[0024] (Object information acquisition unit) The object information acquisition unit 32 acquires position information of objects present in the imaging area AR0. The information acquisition unit 32 controls the object position measurement unit 14 to transmit the information to the object position measurement unit 14. The object information acquisition unit 32 measures the relative position of the object with respect to the object position measurement unit 14. The measurement result of the relative position of the object with respect to the image capturing device 100 is taken as the position information of the object. The object information acquisition unit 32 acquires the position information of the object at predetermined time intervals. The object information acquisition unit 32 sequentially acquires the position information of the object. Information indicating the shape of the object (for example, the 3D shape of the object) can also be acquired. 32 can acquire the 3D shape of an object by accumulating multiple positional information, such as TOF image information. .

[0025] (Target area acquisition section) The target area acquisition unit 30 acquires information about a target area AR set within the imaging area of ​​the imaging device 100. The target area (AR) is the area set to automatically adjust the focus position. The information on the target area AR is information indicating the position of the target area AR, that is, the position of the target area AR. The target area AR will be explained below.

[0026] 2 and 3 are schematic diagrams for explaining an example of a target area. 3 is a view of the image capturing device 100 and the target area AR viewed from above in the vertical direction. This is a diagram of the area AR viewed from the horizontal direction. Hereinafter, the direction Z is the vertical direction, and the direction X is the direction The direction Y is defined as a direction perpendicular to the direction Z and the direction X (horizontal direction 2 and 3, the range in which the image can be captured by the image capturing device 100 is defined as The imaging area AR0 is an area (space) that falls within the angle of view of the imaging element 12. In other words, it refers to the area of ​​real space that is captured as an image. It is an area (space) set within the range of the image area AR0.

[0027] More specifically, the target area acquisition unit 30 acquires the target area AR based on the position information of the reference object B. The reference object B is a point in the imaging area AR0 that serves as a reference for setting the position of the target area AR. The target area acquisition unit 30 acquires the reference object information acquired by the object information acquisition unit 32. Based on the position information of B, a target area AR is set.

[0028] The reference object B is located within the imaging area AR0 and between the first position AX1 and the second position AX2. The first position AX1 may be an object located at a first distance from the image capture device 100. The second position AX2 is a position where the distance from the image capturing device 100 is equal to the first distance L 2 and 3, in this embodiment, In the image capturing area AR0, the first position AX1 is located at a distance of It can be said that the plane is a virtual plane including each position (coordinate) that is the first distance L1. AX2 is located at a second distance L2 from the imaging device 100 within the imaging area AR0. It can be said that it is a virtual plane that includes each position (coordinate). Within R0, a virtual plane whose distance from the image capturing device 100 is a second distance L2 and a virtual plane whose distance from the image capturing device 100 is a second distance L3 are The distance from 00 is the first distance L1. It can be said that the first position AX1 is a position including all positions (positions The target is not limited to being a virtual plane at the first distance L1 from the image capture device 100, but may be at the first position At least some of the positions (coordinates) included in AX1 are at a first distance L1 from the imaging device 100. Similarly, the second position AX2 may be a virtual plane including at least one of the points included in the second position AX2. At least some positions (coordinates) may be on a virtual plane at a second distance L2 from the image capturing device 100. .

[0029] However, the reference object B is not limited to being located between the first position AX1 and the second position AX2. For example, the object position may be measured by the object position measuring unit 14. If the range that can be measured is defined as the distance measurement area (distance measurement space), then the reference object B is located within the distance measurement area. In this case, the imaging area AR in FIGS. 2 to 4 is used as the ranging area. It can be treated as such.

[0030] In this embodiment, the reference object B is an object that is stationary within the imaging area AR0. For example, the reference object B may be a stationary object located within the imaging area AR0. The object may be a facility or other object whose location is fixed.

[0031] The reference object B may be set by any method. For example, the target area acquisition unit 30 may set the reference object B by In this case, for example, the target area acquisition unit 30 may automatically set the body B within the imaging area AR0. The reference object B may be selected by any method from among the objects located at The reference object B may be set by the user. In this case, for example, the user may input the reference object B to the input unit 16 The target area acquisition unit 30 inputs information for selecting the reference object B into the target area acquisition unit 30. The reference object B may be set based on the information specifying the reference object B. In this case, for example, The display unit 18 displays an image in the imaging area AR in real time, and the user can By selecting the image of the reference object B from the objects in the image of R, the reference object Information for selecting body B may be entered.

[0032] The target area acquisition unit 30 acquires the position information of the reference object B based on the position information of the reference object B acquired by the object information acquisition unit 32. In this embodiment, the target area acquisition unit 30 acquires the periphery of the reference object B. A region (space) of a predetermined size, that is, a region of a predetermined size that includes the position of the reference object B 2 and 3, the target area acquisition unit 30 sets the target area AR. A circle (here, a sphere) with a predetermined radius centered on the position of the reference object B is defined as the target area AR. Furthermore, in this embodiment, as described above, the reference object B is set at the first position AX Since the target area AR is located within the area AR0a between the first position AX1 and the second position AX2, the target area AR is also located within the area AR0a between the first position AX1 and the second position AX2. It is located in the area AR0a between the position AX1 and the second position AX2. The image area AR is not limited to being set as a sphere centered on the position of the reference object B, but may be set as a sphere centered on the position of the reference object B. The first position AX1 and the second position AX2 may be arbitrarily set based on the position information of the body B. AX1 and AX2.

[0033] 4 is a schematic diagram showing an example in which a plurality of reference objects are set. In this case, the target area acquisition unit 30 may set the target area based on the position information of the plurality of reference objects B. For example, as shown in FIG. 4, the target area acquisition unit 30 sets a target area AR. The area (space) surrounded by a number of reference objects B may be set as the target area AR.

[0034] (Focus position control unit) The focus position control unit 34 sets the focus position of the imaging device 100. The focus position control unit 34 , by controlling the position of the optical element 10, i.e., by moving the position of the optical element 10. The focus position is controlled by the

[0035] The focal position control unit 34 adjusts the focal position to an object present in the target area AR. The object in this case is an object other than the reference object B, and in this embodiment, it refers to a moving object. It is preferable that the focus position control unit 34 detects an object that is determined to exist within the target area AR. In this embodiment, the focus position control unit 34 sets the focus position at the object information acquisition unit 34. Based on the position information of the object acquired by 32, the object is present within the target area AR. The focus position control unit 34 determines whether the object position acquired by the object information acquisition unit 32 is correct. If the position of the object overlaps with the position of the target area AR, the object is determined to be present within the target area AR. The focal position is adjusted to the position of the object acquired by the object information acquisition unit 32. On the other hand, the focus position control unit 34 controls the focus position for an object that does not exist within the target area AR. Do not match.

[0036] The focus position control unit 34 determines whether the object on which the focus position is adjusted is present within the target area AR. In other words, the focus position control unit 34 continues to adjust the focus position to the object during the period. Based on the position information of the object at each predetermined time interval acquired by the object information acquisition unit 32, the object The object is then determined to be within the target area AR. During the period when the focus position is adjusted, the focus position is adjusted to the object. If the object moves outside the target area AR, that is, if the object no longer exists within the target area AR, If so, the focus position control unit 34 moves the focus position away from the object and focuses on a subject other than the object. Focus on the position.

[0037] The focus position control unit 34 is configured to control the focus position when the imaging device 100 starts operating (when the imaging device 100 is ready to capture an image). The focus position is not adjusted for objects that exist within the target area AR from the timing That is, the focus position control unit 34 may In other words, the focus position control unit 3 4 is present in the target area AR at a certain timing, but For objects that do not exist within the target area AR at this timing, In other words, when an object is detected from outside the target area AR, the focus position can be adjusted. When an object moves into the target area AR, the focus position control unit 34 focuses on the object. That is, the focus position control unit 34 detects the object from outside the target area AR. The focus position may be adjusted to an object that has moved into the image.

[0038] Furthermore, when no object exists in the target area AR, the focus position control unit 34 The focal position may be adjusted to the set position. It is preferable that the position be set within the target area AR, for example, at the center position of the target area AR.

[0039] An example of the above-described process for adjusting the focal position will be described with reference to FIG. 2. Position A0 outside the target area AR, position A1 inside the target area AR, position A2 outside the target area AR In this case, the focus position control unit 34 controls the object A to move in the order of When the object is at A0, the focus position is not adjusted to the object A, for example, The focal position control unit 34 then adjusts the focal position when the object A is positioned at the position A1. In this case, when object A enters the target area AR, The focus position control unit 34 adjusts the focus position to the object A when the object A is located within the target area AR. During this period, the focal position is kept adjusted to object A. After that, object A moves to position A2. At the timing when the object A moves out of the target area AR, The focal position control unit 34 moves the focal position away from the object A and returns the focal position to the set position. That is, the focus position control unit 34 adjusts the focus position of the object A from the moment the object A enters the target area AR. While the object A is moving within the target area AR, the focus position is adjusted to the moving object A. The focal position is moved according to the object A, and when the object A moves out of the target area AR, the object is detected. Remove the focus from body A.

[0040] The focal position may be set by the user. In this case, for example, the focal position may be automatically set. You can switch between auto mode, where the focus position is set automatically, and manual mode, where the user sets the focus position. In the auto mode, the focus position may be changed as described above. The focus position is set by the control unit 34. On the other hand, in the manual mode, the user An operation to set the focal position is input to the input unit 16, and the focal position control unit 34 The focal position is set in response to a user operation.

[0041] (imaging control unit) The imaging control unit 36 ​​controls the imaging by the imaging device 100 to capture an image. The control unit 36 ​​controls, for example, the image sensor 12 to cause the image sensor 12 to acquire an image signal. For example, the imaging control unit 36 ​​may cause the imaging element 12 to automatically acquire an image signal, or may cause the user to Alternatively, the image signal may be acquired in response to a user operation.

[0042] (Image acquisition section) The image acquisition unit 38 acquires the image data acquired by the image sensor 12. The unit 38 controls the image processing circuit 13, for example, to notify the image processing circuit 13 that the image sensor 12 Image data is generated from the generated image signal and the image data is acquired. 38 stores the image data in the storage unit 22.

[0043] (Focus position setting flow) Next, the process flow for setting the focus position explained above will be described. 5 is a flowchart illustrating a process flow for determining whether or not the object is to be processed. The body information acquisition unit 32 acquires the position information of the reference object B (step S10), and the target area The acquisition unit 30 sets the target area AR based on the position information of the reference object B (step Then, the control unit 24 causes the object information acquisition unit 32 to acquire the position information of the object. (Step S14) Steps S10, S12, and S14 may be performed in any order. The control unit 24 determines whether the object is within the target area A based on the position information of the object by the focus position control unit 34. If the object is not located within the target area AR, it is determined whether the object is located within the target area AR (step S16). If not (step S16; No), the process returns to step S14 and continues to acquire the object's position information. On the other hand, if the object is located within the target area AR (step S16; Yes), the focus position The control unit 34 adjusts the focal position to the object (step S18). Continue acquiring information and determine whether the object has moved outside the target area AR (step S20). If the object does not move outside the target area AR (step S20; No), that is, if the object does not move outside the target area AR (step S20; No), If the object continues to exist within the object area AR, the process returns to step S18, and the focus position is adjusted to the object. If the object moves out of the target area AR (step S20; Yes), the focus position control The control unit 34 moves the focal position away from the object (step S22). If not (step S24; No), the process returns to step S14. Step S24: Yes), this process ends.

[0044] (effect) As described above, the imaging device 100 according to this embodiment includes the imaging element 12 and object information The object information acquisition unit includes an acquisition unit 32, a target area acquisition unit 30, and a focus position control unit . 32 acquires position information of an object present in the imaging area AR0 of the imaging element 12. The acquisition unit 30 acquires the target area based on the position information of the reference object B acquired by the object information acquisition unit 32. The focus position control unit 34 determines whether any object other than the reference object B exists in the target area AR. If an object exists, the focal position of the image capturing device 100 is controlled so as to focus on the object. do.

[0045] Here, in an autofocus imaging device, it is necessary to properly adjust the focus position. In contrast, the image capturing device 100 according to this embodiment obtains the position of the reference object B as follows: If an object exists in the target area AR, the target area AR is set based on the The focal position of the image capturing device 100 is controlled so as to align the focus position. If there is an object to be noted in the above, that object is set as the reference object B, and This allows the object to be properly focused.

[0046] The target area acquisition section 30 may set the area around the reference object B as the target area AR. Therefore, it is possible to properly focus on an object in the vicinity of the reference object B of interest. .

[0047] The target area acquisition unit 30 sets an area surrounded by a plurality of reference objects B as a target area AR. Therefore, it is possible to properly focus on objects in the vicinity of the multiple reference objects B of interest. This makes it possible to

[0048] The target area acquisition unit 30 acquires the target area based on the position information of the reference object B that is stopped within the imaging area AR0. Therefore, the object in the vicinity of the stationary reference object B can be detected. This allows for proper focusing.

[0049] The target area acquisition unit 30 acquires the target area from the first position AX at a distance L1 from the image capture device 100. 1, and a second position A at which the distance from the imaging device 100 is a second distance L2 that is shorter than the first distance L1. The target area AR may be set based on the position information of the reference object B located between X1 and X2. By defining an object located between the first position AX1 and the second position AX2 as the reference object B, It is possible to properly focus on an object in the vicinity of the reference object B located in such a position.

[0050] Next, a second embodiment will be described. In the second embodiment, a moving reference object B The second embodiment differs from the first embodiment in that the target area AR is set based on the position information. In this embodiment, the description of the configuration common to the first embodiment will be omitted.

[0051] In the second embodiment, the target area acquisition unit 30 acquires the target area based on the position information of the moving reference object B. The object information acquisition unit 32 sequentially acquires the position information of the reference object B. The target area acquisition unit 30 acquires the position information of the reference object B in accordance with the movement of the reference object B. The target area AR is set so that it moves as the information changes. The acquisition unit 30 acquires the target area AR while maintaining the same position (relative position) with respect to the reference object B. It is preferable to set the target area AR so that the target area AR also moves. The area acquisition unit 30 acquires the position of the target area AR relative to the reference object B as the reference object B moves. It can be said that the position of the target area AR is successively updated while keeping the same.

[0052] The focal position control unit 34 adjusts the focal position to an object present in the target area AR. In the embodiment, the focus position control unit 34 is configured to move the target area AR. If a moving (non-moving) object is located within the target area AR, the object In other words, the focus position control unit 34 does not adjust the focus position for a stationary object. In this case, even if the object is located within the target area AR, On the other hand, the focus position control unit 34 does not treat the object as a body and does not adjust the focus position to the object. , when the moving object is located within the target area AR, i.e., when the moving object is within the target area AR, If the object reaches the area AR, the focus position is adjusted to the object. Whether the object is located can be determined based on the object position information obtained by the object information acquisition unit 32. If the position information of successive objects changes, it can be determined that the object is moving. do.

[0053] An example of the above-described process for adjusting the focal position will be described with reference to FIG. 6. FIG. 6 shows the second embodiment. 6 is a schematic diagram for explaining an example of a target region according to the embodiment. The target area AR moves in the order of position B1, position B2, position B3, and position B4. In this case, the target area AR is also set as the area centered on the base. It moves with the movement of the quasi-object B. In the following, it is assumed that the reference object B is at position B1. The position of the target area AR in the timing is set to position AR1, and the reference object B is set to position B2. The position of the target area AR in the image capture is set to position AR2, and the reference object B is set to position B3. The position of the target area AR in the image is set to AR3, and the reference object B is set to B4. In the example of FIG. 6, the position of the target area AR at position AR1 is set to position AR4. Since there is no object in AR, the reference object B is at position B1 (the target area AR is at position A At timing R1, the focus position control unit 34 does not focus on the object, but sets the focus position to the object. The focus position is adjusted to the position. Also, the target area AR moves from position AR1 to position AR2. At this timing, a stationary object Aa is located within the target area AR. a is stationary, and the stationary object Aa moves into the target area AR. Since the object Aa is located within the AR, the focal position control unit 34 adjusts the focal position to the object Aa. First, the focus position is adjusted to the set position. Note that the set position here is based on the target area AR. The setting position also moves along with the movement of the target area AR. It is preferable that the position (relative position) with respect to the area AR is kept the same while moving.

[0054] When the target area AR moves from position AR2 to position AR3, In this case, the moving object Ab is located within the target area AR. Therefore, the focal position control unit 34 adjusts the focal position to the object Ab, The focus position is kept on the object Ab while the object Ab is located within the target area AR. After that, when the target area AR moves from position AR3 to position AR4, the object Ab The focus position control unit 34 detects that the object Ab is located outside the target area AR. At this timing, the focal position is moved away from the object Ab and adjusted to the set position.

[0055] Next, a process flow for setting the focal position in the second embodiment will be described. 7 is a flowchart illustrating a process flow for setting the device. As shown in FIG. The object information acquisition unit 32 acquires the position information of the reference object B (step S30). The object area acquisition unit 30 sets the target area AR based on the position information of the reference object B (step Then, the control unit 24 acquires the position information of the object by the object information acquisition unit 32 (step S32). The order of steps S30, S32, and S34 is arbitrary. The control unit 24 controls the focus position control unit 34 to determine whether the object is a target object based on the position information of the object. It is determined whether the object is located within the area AR (step S36). If the reference object is not located (step S36; No), the process returns to step S30 and the position information of the reference object is stored. While acquiring and updating the target area AR, the acquisition of object position information continues. If the object is located within the area AR (step S36; Yes), the focus position control unit 34 It is determined whether the body is moving (step S38). If the object in R has not moved (step S38; No), the process returns to step S30. Acquire the position information of the quasi-object and update the target area AR, while continuing to acquire the position information of the object. If an object in the target area AR is moving (step S38; If the object is located at the reference object position (Yes), the focal position is adjusted to the object (step S40). While acquiring information and updating the target area AR, the system continues to acquire the object's position information and determines whether the object is in the target area. It is determined whether the object has moved outside the area AR (step S42). If not (step S42; No), that is, if the object continues to exist within the target area AR Then, the process returns to step S40 and the focus position is kept adjusted to the object. If the object has moved (step S42; Yes), the focus position control unit 34 moves the object to the focus position. Then, if the process is not to be ended (step S46; No), ), return to step S30, and if the process is to be ended (step S46; Yes), Finish.

[0056] As described above, in the second embodiment, the target area acquisition unit 30 uses the moving reference The target area AR is set based on the position information of the object B. The target area acquisition unit 30 The target area AR is set so that it also moves as B moves. For example, when a target object moves during surveillance, the target area is adjusted to match the object. By moving the AR, it is possible to properly focus on the vicinity of the moving object. .

[0057] (Third embodiment) Next, a third embodiment will be described. In the third embodiment, The second embodiment is different from the first embodiment in that the focal position is adjusted to an object that exists and satisfies a predetermined condition. The third embodiment has the same configuration as the first embodiment, and a description thereof will be omitted. The third embodiment is also applicable to the first embodiment.

[0058] In the third embodiment, the focus position control unit 34 is located within the target area AR and The focus position control unit 34 adjusts the focus position to an object that satisfies a certain condition. An object that does not exist within AR and does not meet certain conditions. The focal position control unit 34 does not adjust the focal position to the object on which the focal position is adjusted. While the object satisfies a predetermined condition and remains within the target area AR, the focus position is set to that object. Meanwhile, the focus position control unit 34 determines that the object is present within the target area AR. If at least one of the following conditions is no longer met, That is, for example, the focus position control unit 34 moves the focus position away from the object when the object is in a predetermined condition. If the object satisfies the condition but moves outside the target area AR, or if the object is within the target area AR but meets the condition, If the condition is no longer met, the focus position is shifted away from the object.

[0059] The focus position control unit 34 may determine whether the predetermined condition is satisfied by any method. For example, Based on at least one of the object's position information and the object's image, it is determined whether the object satisfies a predetermined condition. The object position information here may refer to the measurement results of the object position measurement unit 14. The image of the object refers to image data of the object captured by the image sensor 12. That's fine.

[0060] The predetermined condition here is any condition other than the existence of an object within the target area AR. For example, the predetermined condition may be that the object is performing a predetermined motion, that the object is performing a predetermined motion, or that the object is performing a predetermined motion. and the object is oriented in a predetermined direction. In addition, any two of these may be set as the predetermined conditions, or all of them may be set as the predetermined conditions. When a plurality of predetermined conditions are set, the focus position control unit 34 If all of the conditions are met, it is determined that the specified conditions are met.

[0061] A case where the movement of an object is set as a predetermined condition will be described. In this case, the focus position control unit 34 Based on the position information of the object acquired continuously in time series, the system detects whether the object is performing a predetermined movement. The focus position control unit 34 determines whether the object is within the target area AR and is performing a predetermined motion. The focus position control unit 34 adjusts the focus position to the object being photographed. An object that does not satisfy at least one of the following conditions: it exists in a certain place and it does not perform a certain motion. The focus position control unit 34 does not adjust the focus position to the object on which the focus position is adjusted. The object is focused on while it is in the target area AR and continues to move as specified. On the other hand, the focus position control unit 34 determines that the object is present within the target area AR. If the object no longer satisfies at least one of the following conditions, the object will be The movement of an object here refers to the way the object moves. For example, it may refer to the direction and speed of movement of an object. When the object is moving at a speed of 10 m / h or more, the focus position control unit 34 For an object moving vertically downward within the AR area at a speed of 10 m / h or more, the focus position The motion of an object does not necessarily refer to the direction and speed of the object's movement. For example, the motion of an object may be determined by a combination of the direction and speed of the object. It may point to at least one of them.

[0062] FIG. 8 is a schematic diagram illustrating an example in which the motion of an object is set as a predetermined condition. means that the object moves vertically downward (opposite to the Z direction), that is, the direction of movement of the object. In the example of FIG. 8, the object A moves from the position A0a to the position A1a, moves vertically downward through position A2a to position A3a, and stops at position A3a. The position A0a is outside the target area AR, and the positions A1a, A2a, and A3 a is within the target area AR. In this case, the focus position control unit 34 determines that the object A is at a position A0a. At the timing when object A exists, object A is outside the target area AR, so the focus position is on object A. The focus position control unit 34 does not adjust the focus position to the object, but adjusts the focus position to a set position, for example. When the object A is at the position A1a, that is, when the object A moves vertically downward, When the object A enters the target area AR, the focus position is adjusted to the object A. The position control unit 34 controls the object A to be in focus even when the object A is at the position A2a. Continue adjusting the position, and when object A moves to position A3a and stops, Remove the focus from A and return it to the set position.

[0063] Next, a case where the shape of the object is set as a predetermined condition will be described. In this case, the focus position control The unit 34 determines whether the object has a predetermined shape based on the image data showing the object. The focal position is adjusted to an object that exists within the image area AR and has a predetermined shape. The placement control unit 34 determines whether the object is present within the target area AR and has a predetermined shape. The focal position control unit 34 does not adjust the focal position to an object that does not satisfy either of the above conditions. During the period when the object in focus has a predetermined shape and remains within the target area AR On the other hand, the focus position control unit 34 adjusts the focus position to the object. It must satisfy at least one of the following conditions: it must be within the area AR and it must have a predetermined shape. If the object is too small, the focal point is moved away from the object. For example, the predetermined shape may be a predetermined size or an outer shape of the object. When the size of the object is larger than the target size, the focus position control unit 34 determines whether the object is within the target area AR. The focal position is adjusted for objects larger than a predetermined size. Alternatively, the 3D shape information acquired by the object information acquisition unit 32 may be used.

[0064] A case where the orientation of the object is set as a predetermined condition will be described. In this case, the focus position control unit 34 determines whether an object is facing a predetermined direction based on image data of the object. The focal position is adjusted to an object that exists within the area AR and faces in a predetermined direction. The position control unit 34 determines whether the object is present in the target area AR and faces a predetermined direction. The focal position control unit 34 does not adjust the focal position to an object that does not satisfy at least one of the conditions. indicates that the object in focus continues to exist within the target area AR while facing a predetermined direction. During this period, the focus position control unit 34 continues to adjust the focus position to the object. At least one of the following is determined: the object is within the target area AR and faces a predetermined direction. If the condition is no longer satisfied, the focal position is removed from the object. In particular, information on the 3D shape acquired by the object information acquisition unit 32 may be used.

[0065] The predetermined conditions may be set in any manner, for example, they may be set in advance. In this case, the focus position control unit 34 receives information indicating a predetermined condition (for example, The information (direction and speed of movement) may be read from the storage unit 22 or transmitted to another device via the communication unit 20. The predetermined conditions may be acquired from the device. In this case, the focus position control unit 34 may automatically set the predetermined conditions. The user may set a predetermined condition. In this case, for example, the user may input a predetermined condition into the input unit 16. The focal position control unit 34 receives information specifying the conditions (for example, the direction and speed of movement) and , a predetermined condition may be set based on information specified by the user.

[0066] As described above, in the third embodiment, the focus position control unit 34 determines the target area AR The focal position may be adjusted to an object that exists in the vicinity of the object and is performing a predetermined motion. The control unit 34 adjusts the focal position to the object while the object is performing a predetermined movement. When the object stops moving in the specified direction, the focus position is moved away from the object. In addition to being within the target area AR, the focus position must also satisfy the predetermined motion. By setting this condition, it is possible to track an object with a specific movement and adjust the focus position appropriately. This becomes possible.

[0067] In the third embodiment, the focus position control unit 34 is located in the target area AR and is In this way, the focus position may be adjusted to an object having a shape of the target area AR. In addition, by making the shape a predefined condition for focusing, it is possible to focus on objects with specific shapes. By tracking the focus position, it becomes possible to appropriately adjust the focus position.

[0068] In the third embodiment, the focus position control unit 34 is located in the target area AR and is In this way, the focus position can be adjusted to an object that is facing in the target area AR. In addition, by making the subject facing a specific direction a condition for adjusting the focus position, It is possible to track the orientation of an object and adjust the focus position appropriately.

[0069] Although the embodiments of the present invention have been described above, the present invention is not limited to the contents of these embodiments. In addition, the above-mentioned components include those that a person skilled in the art can easily imagine, and Furthermore, the above-mentioned components are included in the scope of equivalents. They can be combined as desired, and the configurations of the respective embodiments can also be combined. Furthermore, various omissions, substitutions or modifications of the components may be made without departing from the spirit of the above-described embodiments. In each embodiment, the operation of adjusting the focus position can be performed by changing the feature point. However, the operation of adjusting the focus position may be combined with other operations. For example, the operation of adjusting the focus position may be combined with the operation of enlarging or reducing the image by zooming. In addition, in the description of each embodiment, the operation of adjusting the focus position may be replaced with other operations. For example, in the description of each embodiment, the operation of adjusting the focus position may be performed by zooming in. The control unit 24 of the imaging device in each embodiment may be, for example, For example, an object may enter or leave a predetermined target area (AR), or the object may move in a predetermined direction. When the predetermined condition is met, a notification is sent to a predetermined destination through the communication unit 20. The set condition here may be, for example, that an object moves into the target area AR. This may refer to using this as a trigger to focus on the object. [Explanation of symbols]

[0070] 10 Optical Elements 12 Image sensor 14 Object position measurement section 30 Target area acquisition unit 32 Object information acquisition unit 34 Focus position control unit AR target area AR0 imaging area B Reference object

Claims

1. An imaging device capable of imaging an object, An imaging element; an object information acquisition unit that acquires three-dimensional position information of an object present in an imaging area of ​​the imaging element; a target area acquisition unit that sets a three-dimensional target area based on the position information of the reference object acquired by the object information acquisition unit; a focus position control unit that, when an object other than the reference object exists within the target area, determines whether the object satisfies a predetermined condition; having Imaging device.

2. The focus position control unit determines whether the object other than the reference object is moving in a predetermined manner based on the three-dimensional position information. The imaging device according to claim 1

3. The object information acquisition unit further acquires a 3D shape of the object, The focus position control unit determines whether the object other than the reference object has a predetermined 3D shape. The imaging device according to claim 1 .

4. the object information acquisition unit further acquires information about the orientation of the object; The focus position control unit determines whether the object other than the reference object is oriented in a predetermined direction. The imaging device according to claim 1 .

5. An imaging method for imaging an object, comprising: acquiring three-dimensional position information of an object present in an imaging area; Based on the position information of the reference object acquired in the step of acquiring the position information of the object, and setting a three-dimensional region of interest. If an object other than the reference object is present in the target area, determining whether the object satisfies a predetermined condition; Including, Imaging method.

6. A program for causing a computer to execute an imaging method for imaging an object, acquiring three-dimensional position information of an object present in an imaging area; Based on the position information of the reference object acquired in the step of acquiring the position information of the object, and setting a three-dimensional region of interest. If an object other than the reference object is present in the target area, determining whether the object satisfies a predetermined condition; causing the computer to execute program.

Images