Subject tracking device and its control method, imaging system, program

Abstract

When a signal is received to initiate subject tracking, the system performs control corresponding to the subject tracking control state to enable the restoration of tracking. [Solution] The imaging system uses the imaging unit 101 to image the subject and perform tracking control. The pan operation control unit 105 and the tilt operation control unit 107 control the pan operation drive unit 104 and the tilt operation drive unit 106, respectively, according to control instructions from the system control unit 103. The infrared signal receiving unit 109 receives a signal for performing tracking from the remote control device 110 and transmits it to the system control unit 103. The system control unit 103 determines the status of tracking control for the subject, and if tracking is not in progress or the subject has been lost, it controls the imaging direction of the imaging unit 101 to search for the target to be tracked. If the tracking control status is in progress or the subject has not been lost, the system control unit 103 performs control to display the detection result of the target to be tracked.

Description

【Technical Field】 【0001】 The present invention relates to a control technique for imaging and tracking a subject. 【Background Art】 【0002】 There is an imaging system using a camera whose imaging direction can be changed by controlling the posture of the imaging means (panning control or tilting control). For example, a user can operate the camera using an automatic subject tracking application for lecture recording. In the case of a small-scale lecture, it is difficult to secure the number of operators for camera operation, so the lecturer often operates the camera himself / herself. When the lecturer moves inside the lecture hall during the lecture, the camera is operated from different locations each time. There are cases where the lecturer performs a tracking operation using a remote controller in a situation where the video of the camera cannot be confirmed because a PC (personal computer) or monitor is not close to the lecturer. 【0003】 In Patent Document 1, a technique is disclosed that enables a user to easily grasp the tracking status of an imaging object even from a remote location when imaging while automatically tracking the imaging object. Considering that the operator cannot confirm the video of the camera, notification processing by light emission or voice is performed when the tracking target is lost. Also, in Patent Document 2, a technique for increasing the possibility of rediscovering the tracking target even when the subject of the tracking target becomes untrackable is disclosed. When the tracking target is lost, the system control unit controls the pan, tilt, and zoom to sequentially image within the set search range for searching. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2007-49229 【Patent Document 2】 Japanese Unexamined Patent Application Publication No. 2023-80962 【Summary of the Invention】 [Problems that the invention aims to solve] 【0005】 Incidentally, if the camera loses sight of the subject it is tracking, it is necessary to bring the subject back into the field of view, re-detect it, and resume tracking the subject. In this case, if the instructor is operating the camera while moving and cannot see the image captured by the camera, they will not be able to determine the direction of panning or tilting operations. In other words, the instructor, as the operator, will not know which direction to operate the camera to bring the subject into the field of view. Therefore, camera control is needed that allows for easy searching for and recovery of the subject. Also, there may be cases where the camera temporarily loses sight of the subject, such as when the instructor turns their back. In such cases, it is appropriate for the camera to maintain its current field of view until the instructor (the subject being tracked) is re-detected. It is desirable that the search for the subject be performed according to the instructor's operating instructions. The objective of the present invention is to enable the restoration of tracking by performing control corresponding to the state of the subject tracking control when a subject tracking device receives a signal for performing subject tracking. [Means for solving the problem] 【0006】 An embodiment of the present invention is a subject tracking device that tracks a subject to be tracked by imaging means, comprising: receiving means for receiving a signal for performing tracking of the subject; driving means for changing the imaging direction of the imaging means; and control means for performing tracking control of a detected subject by controlling the driving means. The control means determines the state of tracking control for the subject when the receiving means receives the signal, and if it determines that it is in a first state, it performs control to display the detection result of the subject, and if it determines that it is in a second state, it searches for a subject to be tracked by controlling the driving means and performs control to track the detected subject. [Effects of the Invention] 【0007】 According to the present invention, when a subject tracking device receives a signal for performing subject tracking, it is possible to restore tracking by performing control corresponding to the state of subject tracking control. [Brief explanation of the drawing] 【0008】 [Figure 1] This is a block diagram according to the embodiment. [Figure 2] This is a schematic diagram of a remote control device according to an embodiment of the present invention. [Figure 3] This is a flowchart illustrating the operation during remote control in the first embodiment. [Figure 4] This figure shows an example of an imaging device according to the second embodiment. [Figure 5] This is a flowchart illustrating the operation during remote control in the second embodiment. [Figure 6] This is a flowchart illustrating the operation during remote control in the third embodiment. [Modes for carrying out the invention] 【0009】 Embodiments of the present invention will be described below with reference to the accompanying drawings. In the embodiments, an example configuration in which a control device is located within the imaging device will be described, but for the application of the present invention, the control device may be located outside the imaging device. A subject tracking device, its control method, imaging system, and program that can remotely control the recovery process when the tracked target (hereinafter also referred to as "tracked subject") is lost will be described. 【0010】 In this embodiment, an imaging device that tracks and images a target receives a remote control signal from a remote control device. If the imaging device receives a remote control signal while not tracking a subject, it searches a preset range. The imaging device performs panning and tilting operations and controls the tracking of the detected target. On the other hand, if the imaging device receives a remote control signal while tracking a subject, it performs control according to the remote control signal. 【0011】 [First Embodiment] Referring to Figure 1, an example configuration of an imaging system having a subject tracking device will be described. In this embodiment, the imaging system functions as a control device, and this function is realized by the system control unit 103. 【0012】 The imaging unit 101 converts ambient light into a video signal through photoelectric conversion and outputs the video signal to the image processing unit 102. As the image sensor that performs photoelectric conversion, for example, a CMOS (complementary metal-oxide-semiconductor) type image sensor or a CCD (charge-coupled device) type image sensor can be used. 【0013】 The image processing unit 102 generates captured video by applying various well-known image processing techniques to the video signal output from the imaging unit 101. For example, the image processing unit 102 digitizes the analog video signal and converts it into captured video data that can be played back by other devices. Captured video data conforming to various well-known formats such as MPEG2 (Moving Picture Experts Group phase 2) can be used. In addition, the image processing unit 102 is capable of performing compression encoding on the captured video. 【0014】 The image analysis unit 108 performs processing to detect a specific subject to be tracked from the captured video generated by the image processing unit 102. Using well-known techniques such as deep learning, it can detect, for example, a person as a specific subject. The image analysis unit 108 can detect a specific person registered as a tracking target by matching the feature data of the face region image. The image analysis unit 108 and the image processing unit 102 are under the control of the system control unit 103. 【0015】 The system control unit 103 is the central unit that controls the imaging system. The system control unit 103 has a processor such as a CPU (Central Processing Unit) or DSP (Digital Signal Processor) and memory such as RAM (Random Access Memory). The processor controls the operation of each part that makes up the imaging system by executing processing using computer programs and data stored in memory. The system control unit 103 executes and controls the various processes in the imaging device described later. For example, the system control unit 103 gives instructions to the image processing unit 102 for image quality adjustment. The system control unit 103 also gives instructions to the pan operation control unit 105 and the tilt operation control unit 107 for their respective operations. Hereinafter, pan or panning will also be written as "P" and tilt or tilting will also be written as "T". P control and T control will be collectively referred to as "PT control". 【0016】 The attitude control of the imaging unit 101 is performed by the pan motion control unit 105 and the tilt motion control unit 107. The pan motion control unit 105 controls the operation of the pan motion drive unit 104 according to control instructions from the system control unit 103. The pan motion drive unit 104 is equipped with a mechanical drive system and a drive source (motor, etc.) for performing the P motion of the imaging device. For example, the pan motion drive unit 104 can rotate the imaging direction corresponding to the optical axis of the imaging lens (not shown) in the P direction over an angular range of 360 degrees. On the other hand, the tilt motion control unit 107 controls the operation of the tilt motion drive unit 106 according to control instructions from the system control unit 103. The tilt motion drive unit 106 is equipped with a mechanical drive system and a drive source for performing the T motion of the imaging device. For example, the tilt motion drive unit 106 can rotate the imaging direction in the T direction (direction perpendicular to the P direction) within an angular range of 180 degrees. 【0017】 The infrared signal receiving unit 109 receives an infrared signal transmitted from an external device and notifies the received information to the system control unit 103. An example of an external device for remotely operating the imaging device by infrared communication is shown as the remote control device 110. The infrared signal receiving unit 109 receives signals related to PT control, a tracking execution signal, etc. from the remote control device 110 and transmits them to the system control unit 103. 【0018】 Referring to FIG. 2, an example of the remote control device 110 will be described. The remote control device 110 transmits a signal related to the PT control of the imaging device by the user operating a button for selecting a direction, or transmits a tracking execution signal by the user operating a button for executing the tracking of a subject to be tracked. A plurality of operation buttons are provided on the front surface of the main body 201 of the remote control device 110. The operation button 202 is used when the user instructs the execution of subject tracking. A tracking execution signal is transmitted by operating the operation button 202. The plurality of operation buttons 203 to 206 are operation buttons for selecting the up, down, left, and right directions, and are used when the user performs a direction specifying operation related to PT control. The operation button 203 corresponds to the up direction, the operation button 204 corresponds to the down direction, the operation button 205 corresponds to the left direction, and the operation button 206 corresponds to the right direction, respectively. 【0019】 In the configuration shown in FIG. 1, the image analysis unit 108 refers to the captured video of each frame generated by the image processing unit 102. The image analysis unit 108 can detect a human body region in the image by inputting video data to an arithmetic unit configured based on, for example, a deep learning model. However, the method for detecting the human body region from the captured image of each frame is not limited to this method, and other methods can be used. 【0020】 When the image analysis unit 108 detects a human body region in the captured image, the system control unit 103 sets the tracking control state for the subject (tracking control state) to "tracking" and starts tracking the subject corresponding to the human body region. Based on the position of the human body region detected by the image analysis unit 108 within the frame, the system control unit 103 calculates the amount of change in the pan angle and tilt angle so that the human body region is captured at a specified size in the center of the frame. The pan angle corresponds to the drive angle of the imaging unit 101 in the P direction, and the tilt angle corresponds to the drive angle of the imaging unit 101 in the T direction. Note that it is not always necessary to calculate the amount of change in the pan angle and tilt angle, and in some situations, only the amount of change in one of them may be calculated. 【0021】 When the system control unit 103 calculates the amount of change in the pan angle, it calculates the target drive angle for the P control corresponding to that change and instructs the pan operation control unit 105 accordingly. Similarly, when the system control unit 103 calculates the amount of change in the tilt angle, it calculates the target drive angle for the T control corresponding to that change and instructs the tilt operation control unit 107 accordingly. This allows the imaging device to capture images while tracking the target object. 【0022】 When the tracking control state is "tracking," the image analysis unit 108 may not be able to detect the tracked subject from the captured image depending on the movement of the tracked subject, and may lose sight of the tracked subject. For example, this may occur if part of the tracked subject is hidden behind an object or if the subject turns its back to the camera. If the image analysis unit 108 fails to detect the tracked subject, the system control unit 103 sets the tracking control state to "not tracking" and stops the tracking operation. 【0023】 Furthermore, when the infrared signal receiving unit 109 receives a tracking execution signal from the remote control device 110, the system control unit 103 performs control according to the current tracking control state. For example, the following control is performed. • If the tracking control state is "not tracking": The system control unit 103 performs PT control, searches within a preset range, and resumes tracking if it detects a target. • When the tracking control state is "tracking": The system control unit 103 performs display control to draw the position of the subject area (human body area, etc.) within the captured image detected by the image analysis unit 108 on the captured video. 【0024】 Next, referring to Figure 3, the operation when the imaging device receives a tracking execution signal from the remote control device 110 will be explained. Figure 3 is a flowchart illustrating an example of processing during remote control. The following processing is implemented according to the program executed by the system control unit 103. 【0025】 In S301, the infrared signal receiver 109 receives a tracking execution signal from the remote control device 110 and notifies the system control unit 103 of the received information. In S302, the system control unit 103 determines whether the current tracking control state is "tracking" or "not tracking". If it is determined to be "tracking", the process proceeds to S303; if it is determined to be "not tracking", the process proceeds to S304. 【0026】 In S303, the system control unit 103 controls the display unit (not shown) to display the detection result of the tracked target. The system control unit 103 outputs a control instruction to the image processing unit 102 to draw the position of the subject area (human body area, etc.) within the frame of the tracked target detected by the image analysis unit 108 onto the captured image. The image processing unit 102 executes the drawing process according to the control instruction from the system control unit 103. Then, the series of processes ends. 【0027】 In S304, the system control unit 103 acquires the pre-set subject search range setting information. The setting information is read from memory, etc., and the process proceeds to S305. In S305, the system control unit 103 calculates and determines a search route for performing PT control to sequentially image the entire subject search range based on the current field of view and the subject search range setting information. Next, in S306, the system control unit 103 instructs at least one of the pan operation control unit 105 and the tilt operation control unit 107 to perform operation control in order to perform imaging along the search route determined in S305. One or both of the pan operation control unit 105 and the tilt operation control unit 107 control the pan operation drive unit 104 and the tilt operation drive unit 106, respectively, in accordance with the control instructions of the system control unit 103, to sequentially image along the search route. The process then proceeds to S307. 【0028】 In S307, the system control unit 103 determines whether or not it has detected a subject to be tracked while the camera is moving (changing its posture) along the search route in S306. If the image analysis unit 108 detects a subject to be tracked during imaging based on the search route, the system control unit 103 terminates the subject search process and proceeds to the process in S308. On the other hand, if the image analysis unit 108 fails to detect a subject to be tracked in S307, the process proceeds to S306, and the control of imaging along the search route is repeated. 【0029】 In S308, the system control unit 103 performs tracking control for the detected tracking target (subject). To enable the image analysis unit 108 to detect the tracking subject, the system control unit 103 starts PT control and instructs at least one of the pan operation control unit 105 and the tilt operation control unit 107 to operate. The system control unit 103 also sets the tracking control state to "tracking". Then, it terminates the series of processes. 【0030】 According to this embodiment, even if the user is unable to view the display screen of a PC or the display image of the imaging device, when the tracking target is lost, the user can operate the operation button on the remote control device to perform the subject search process using PT control. Tracking can be resumed when the tracking target is detected again. 【0031】 [Second Embodiment] In this embodiment, when a remote control signal is received, processing is performed according to the tracking control state. If the tracked subject can no longer be detected, various devices are used to notify the operator. These various devices include indicator lamps and speakers mounted on the imaging device. Furthermore, if the imaging device receives a remote control signal before a predetermined time (threshold time) has elapsed since the point at which the tracked subject can no longer be detected, processing is performed to search for the tracked subject using PT control within a pre-set subject search range. In the following, the same codes and symbols used in the first embodiment will be reused to avoid repetition in the explanation, and the differences from the first embodiment will be explained primarily. This method of explanation will be the same in the embodiments described later. 【0032】 Referring to Figure 1, the components of this embodiment will be described. Detailed descriptions of the components described in the first embodiment will be omitted. The system control unit 103 sets the current state to "lost" when the image analysis unit 108 can no longer detect the tracking target it had previously detected. At this time, the system control unit 103 controls various devices to notify the operator that the state has been set to "lost". Then, after a predetermined time (threshold time) has elapsed since the tracking target could no longer be detected, the system control unit 103 sets the tracking control state to "not tracking". 【0033】 If the system control unit 103 receives a tracking execution signal from the remote control device 110 while the status is "lost," it executes a process to search for the target to be tracked using PT control within a preset subject search range. If the target to be tracked is detected again, the system control unit 103 resumes tracking the target. 【0034】 Referring to Figure 4, an example of a method for notifying the operator that the status has been set to "lost" is explained. Figure 4 shows an example of an imaging device that tracks and images a subject. The main body 401 of the imaging device is equipped with a display unit 402 for notifying the operator of the current status. For example, the display unit 402 has an LED (light-emitting diode) and flashes red at predetermined time intervals during the period when the status is "lost" to notify the operator. Also, when the status is "tracking", the display unit 402 notifies the operator by lighting up in green, and turns off when the status is "not tracking". The imaging device also has a built-in speaker 403 that outputs sound to notify the user that the subject is "lost" when the status is set to "lost". In addition, the remote control device 110 (see Figure 2) has a built-in vibration mechanism that notifies the operator of the tracking control status by changing the vibration pattern or vibration intensity. For example, the vibration mechanism (vibration motor, etc.) notifies the operator by vibrating at predetermined time intervals during the period when the status is "lost". 【0035】 Next, referring to Figure 5, the operation when the imaging device receives a tracking execution signal from the remote control device 110 will be described. In Figure 5, for processes that follow the same steps as those shown in Figure 3, the same step number is used, and the explanation for those steps is omitted. This method of omitting explanations will also be adopted in the embodiments described later. 【0036】 After S301, the process proceeds to S502, where the system control unit 103 determines whether the current state is anything other than "lost". If it is determined that the state is anything other than "lost", the process proceeds to S303. If it is determined that the state is "lost", the process proceeds to S304, and then the processes from S305 to S308 are executed. 【0037】 According to this embodiment, even if the user, who is the operator, is unable to view the display screen of a PC or the image from the imaging device, the operator can be notified when the tracked target is lost. In this case, when the user operates a predetermined operating member of the remote control device, the imaging device executes a search process for the tracked target by PT control. If the tracked target is detected again, the system control unit 103 can resume tracking the target. 【0038】 [Third Embodiment] In this embodiment, a process for preferentially searching for a tracking subject in a specified direction will be described. The remote control device 110 is provided with a plurality of operation buttons for the user to specify a desired direction. Specifically, these are the plurality of operation buttons 203 to 206 shown in Figure 2. When the user presses any of the operation buttons 203 to 206 when specifying a direction, the remote control device 110 transmits a signal specifying the corresponding tracking direction. 【0039】 The infrared signal receiver 109 (Figure 1) of the imaging device receives a tracking direction specification signal corresponding to the operation button pressed by the user. For example, when operation button 203 is pressed, the remote control device 110 transmits a specification signal corresponding to the upward direction. The infrared signal receiver 109 receives the tracking direction specification signal (upward direction) and transmits it to the system control unit 103. When the system control unit 103 performs PT control to search for the subject to be tracked, it prioritizes the specified direction in the search process. 【0040】 When the infrared signal receiver 109 receives a tracking direction specification signal from the remote control device 110, the system control unit 103 performs control according to the current tracking control state. For example, the following control is performed. - If the tracking control state is "not tracking": The system control unit 103 prioritizes the specified tracking direction and performs the subject search process using PT control, and resumes tracking when a target is detected. • If the tracking control state is "Tracking in progress": The system control unit 103 selects a subject (person, etc.) located in the specified tracking direction as the target for tracking. 【0041】 Next, referring to Figure 6, the operation when the imaging device receives a tracking direction specification signal from the remote control device 110 will be explained. The differences from Figure 3 are in processes S601, S603, and S605. In S601, when the infrared signal receiving unit 109 receives a tracking direction specification signal from the remote control device 110, the system control unit 103 determines the specified tracking direction. Next, the process proceeds to S302. 【0042】 If the current state is determined to be "tracking" in S302 (or not "lost"), the process proceeds to S603. In S603, the system control unit 103 refers to the positions of all human body regions detected by the image analysis unit 108 and determines whether a human body region exists in the specified tracking direction, based on the current position of the target being tracked. If a human body region exists in the specified tracking direction, the system control unit 103 selects the person corresponding to that human body region as the target to be tracked. For example, if the target being tracked before direction specification was person A, and person B is detected in the specified tracking direction, the system control unit 103 switches the target being tracked from person A to person B. After S603, the series of processes ends. 【0043】 On the other hand, if the current state is determined in S302 to be not "tracking" (or to be "lost"), the process proceeds to S304, and then to S605. In S605, the search route is determined so that the specified tracking direction is searched first. The system control unit 103 calculates and determines the search route so that the subject search range is sequentially imaged based on the current field of view and subject search range. At this time, the system control unit 103 determines the search route so that the subject search in the specified tracking direction at the current field of view is performed first. Next, the process proceeds to S306, and then S307 and S308 are executed. 【0044】 According to this embodiment, when the imaging device loses sight of the target being tracked, the user operates a predetermined operating member on the remote control device, and a signal specifying the tracking direction is transmitted from the remote control device to the imaging device. The imaging device prioritizes the specified tracking direction and performs subject search processing using PT control, enabling it to re-detect the target being tracked in a shorter time and resume tracking. 【0045】 In the imaging system of the above embodiment, if the tracked subject is lost, an operation instruction is given to the remote control device. When the subject tracking device receives a signal from the remote control device to start tracking the subject, the subject search process is executed by PT control according to the signal. If the tracked subject is detected again, it is possible to resume tracking. According to the above embodiment, the tracked target can be searched for and tracking restored with simple operations performed by the user. 【0046】 [Other embodiments] The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions. 【0047】 Embodiments of this disclosure include the following configurations, methods, and programs. [Configuration 1] A subject tracking device that tracks a subject to be tracked by imaging it using an imaging means, Receiving means for receiving signals for performing tracking of the subject, A driving means for changing the imaging direction of the imaging means, The system includes a control means that performs control to track the detected subject by controlling the drive means, The control means determines the state of tracking control for a subject when the receiving means receives the signal. If it determines that the first state is present, it performs control to display the subject detection result. If it determines that the second state is present, it searches for a subject to be tracked by controlling the driving means and performs control to track the detected subject. A subject tracking device characterized by the following features. [Configuration 2] The first state is a state in which the control means is performing tracking of the subject, The second state is a state in which the control means is not performing tracking of the subject. A subject tracking device according to configuration 1, characterized by the above. [Configuration 3] The second state described above is a state of loss, where the subject being tracked has been lost. The first state described above is the state in which the device is not lost. A subject tracking device according to configuration 1, characterized by the above. [Structure 4] When the receiving means receives a signal specifying the tracking direction and the control means determines that the second state is in place, the control means controls the driving means to prioritize the specified tracking direction when searching for a subject and to track the detected subject. A subject tracking device according to any one of configurations 1 to 3, characterized by the above. [Composition 5] When the receiving means receives a signal specifying the tracking direction and the control means determines that the first state is in place, the control means performs a process to select the subject in the specified tracking direction as the target for tracking. A subject tracking device according to any one of configurations 1 to 4, characterized by the above. [Composition 6] Image processing means for performing image processing on an image acquired by the imaging means, The system includes an image analysis means that analyzes the image from the image processing means to detect a subject area within the image, The control means determines the state of tracking control for the subject corresponding to the detected subject area in the image and performs tracking control for the subject. A subject tracking device according to any one of configurations 1 to 5, characterized by the above. [Composition 7] When the control means determines that the first state is met, it outputs a control instruction to the image processing means to draw the position of the detected subject area in the image onto the captured video. A subject tracking device according to configuration 6, characterized by the features described above. [Structure 8] If the receiving means receives the signal before a threshold time has elapsed from the point at which the subject to be tracked can no longer be detected, the control means performs control to search for the subject to be tracked within a preset search range. A subject tracking device according to any one of configurations 1 to 7, characterized by the above. [Composition 9] The control means includes a notification means for notifying the user of the tracking control status determined by the control means, The notification means outputs light or sound corresponding to the first and second states, respectively. A subject tracking device according to any one of configurations 1 to 8, characterized by the above. [Configuration 10] A subject tracking device described in any one of configurations 1 to 9, The imaging means, The system includes a remote control device used for remotely controlling the subject tracking device. An imaging system characterized by the following features. [Composition 11] The remote control device includes a vibration mechanism as a notification means for notifying the user of the tracking control status determined by the control means. The imaging system according to configuration 10, characterized in that... [Method 1] A control method performed in a subject tracking device that tracks a subject to be tracked by imaging means, The process includes the receiving means receiving a signal for performing the tracking of the subject, The process includes the control means determining the state of tracking control for the subject when the receiving means receives the signal, The process includes: when the control means determines that it is in a first state, it performs control to display the detection result of the subject; when the control means determines that it is in a second state, it searches for a subject to be tracked by controlling the driving means that changes the imaging direction of the imaging means, and performs control to track the detected subject. A control method characterized by the following: [program] A program that causes the computer of the subject tracking device to execute each step described in Method 1. [Explanation of symbols] 【0048】 101 Imaging Unit 102 Image Processing Unit 103 System Control Unit 104,106 Operating drive unit 105,107 Operation Control Unit 108 Image Analysis Department 110 Remote control device

Claims

[Claim 1] A subject tracking device that tracks a subject to be tracked by imaging it using an imaging means, Receiving means for receiving signals for performing tracking of the subject, A driving means for changing the imaging direction of the imaging means, The system includes a control means that performs control to track the detected subject by controlling the drive means, The control means determines the state of tracking control for a subject when the receiving means receives the signal. If it determines that the first state is present, it performs control to display the subject detection result. If it determines that the second state is present, it searches for a subject to be tracked by controlling the driving means and performs control to track the detected subject. A subject tracking device characterized by the following features. [Claim 2] The first state is a state in which the control means is performing tracking of the subject, The second state is a state in which the control means is not performing tracking of the subject. The subject tracking device according to feature 1. [Claim 3] The second state described above is a state of loss, where the subject being tracked has been lost. The first state described above is the state in which the device is not lost. The subject tracking device according to feature 1. [Claim 4] When the receiving means receives a signal specifying the tracking direction and the control means determines that the second state is in place, the control means controls the driving means to prioritize the specified tracking direction when searching for a subject and to track the detected subject. The subject tracking device according to feature 1. [Claim 5] When the receiving means receives a signal specifying the tracking direction and the control means determines that the first state is in place, the control means performs a process to select the subject in the specified tracking direction as the target for tracking. The subject tracking device according to feature 1. [Claim 6] Image processing means for performing image processing on an image acquired by the imaging means, The system includes an image analysis means that analyzes the image from the image processing means to detect a subject area within the image, The control means determines the state of tracking control for the subject corresponding to the detected subject area in the image and performs tracking control for the subject. The subject tracking device according to feature 1. [Claim 7] When the control means determines that the first state is met, it outputs a control instruction to the image processing means to draw the position of the detected subject area in the image onto the captured video. The subject tracking device according to feature 6. [Claim 8] If the receiving means receives the signal before a threshold time has elapsed from the point at which the subject to be tracked can no longer be detected, the control means performs control to search for the subject to be tracked within a preset search range. The subject tracking device according to feature 1. [Claim 9] The control means includes a notification means for notifying the user of the tracking control status determined by the control means, The notification means outputs light or sound corresponding to the first and second states, respectively. The subject tracking device according to feature 1. [Claim 10] A subject tracking device according to any one of claims 1 to 9, The imaging means, The system includes a remote control device used for remotely controlling the subject tracking device. An imaging system characterized by the following: [Claim 11] The remote control device includes a vibration mechanism as a notification means for notifying the user of the tracking control status determined by the control means. The imaging system according to feature 10. [Claim 12] A control method performed in a subject tracking device that tracks a subject to be tracked by imaging means, The process includes the receiving means receiving a signal for performing the tracking of the subject, The process involves the control means determining the state of tracking control for the subject when the receiving means receives the signal, The process includes: when the control means determines that the system is in a first state, it performs control to display the detection result of the subject; when the control means determines that the system is in a second state, it searches for a subject to be tracked by controlling the driving means that changes the imaging direction of the imaging means, and performs control to track the detected subject. A control method characterized by the following: [Claim 13] A program that causes the computer of a subject tracking device to perform each of the steps described in claim 12.

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