MOBILE BODY, METHOD FOR CONTROLLING MOBILE BODY, AND PROGRAM

Abstract

To allow an appropriate imaging of a target located at a short distance and a target at a long distance by a stereoscopic camera according to situations.SOLUTION: A mobile body includes: a stereoscopic camera including a first imaging unit and a second imaging unit; a base line length changing unit for moving at least one of the first imaging unit and the second imaging unit to change the base line length between the first imaging unit and the second imaging unit; and a mobile body control unit for controlling the base line length changing unit so that the base line length will be adjusted to a target base line length according to a state variable showing information of a variable imaging state of the first imaging unit and the second imaging unit.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a moving object, a control method for a moving object, and a program. [Background technology]

[0002] A stereo camera system can capture an object from multiple directions using stereo cameras, and can obtain not only an image of the object but also information about the object's depth. For this reason, stereo cameras have come to be used in a variety of fields that require stereoscopic vision and distance measurement of an object (see Patent Documents 1 to 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 244668 [Patent Document 2] JP 2001-305681 A [Patent Document 3] JP 2004-93457 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a stereo camera system that uses a stereo matching technique based on the triangulation principle, the maximum and minimum distances in the depth direction at which appropriate imaging by the stereo camera is possible are determined according to the base line length between the imaging units.

[0005] When the baseline length between the imaging units is short, distance measurement for a nearby object (close-distance object) can be performed with high accuracy, but large measurement errors are likely to occur when measuring distances to a distant object (long-distance object).On the other hand, when the baseline length between the imaging units is long, distance measurement for a distant object can be performed with high accuracy, but close-distance objects may fall outside the imaging range and may not be imaged at all.

[0006] As described above, in a stereo camera, there is a trade-off between the ability to capture images of close-up objects and the accuracy of measuring distances to long-up objects, and it is difficult in principle to achieve both at a high level simultaneously with a single stereo camera. This is also difficult to achieve with software processing. For this reason, for moving objects such as vehicles and aircraft, it has been necessary to design hardware that is equipped with both a stereo camera for close-up photography and a stereo camera for long-distance photography.

[0007] Therefore, the present disclosure provides a technique that enables a stereo camera to appropriately capture images of both targets located at close range and targets located at long range depending on the situation. [Means for solving the problem]

[0008] One aspect of the present disclosure relates to a mobile body including a stereo camera including a first imaging unit and a second imaging unit, a baseline length changing unit that moves at least one of the first imaging unit and the second imaging unit so as to change the baseline length between the first imaging unit and the second imaging unit, and a mobile body control unit that controls the baseline length changing unit so as to adjust the baseline length to a target baseline length corresponding to a state variable indicating information on a variable imaging state of the first imaging unit and the second imaging unit.

[0009] The state variables may include information regarding at least one of the moving speed of the moving body, the inclination of the imaging direction of the first imaging unit and the second imaging unit, and the altitude of the moving body.

[0010] The moving body may be equipped with an imaging state measurement unit that measures state variables, and the moving body control unit may control the baseline length change unit so that the baseline length is adjusted to a target baseline length corresponding to the state variable acquired from the imaging state measurement unit.

[0011] The moving body is equipped with a moving body driving unit that drives the moving body, and the moving body control unit receives driving instruction information and controls the moving body driving unit based on the driving instruction information, the driving instruction information including information regarding state variables, and the moving body control unit may control the baseline length changing unit so that the baseline length is adjusted to a target baseline length corresponding to the state variables obtained based on the driving instruction information.

[0012] The moving object control unit may derive a distance to the target object based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit.

[0013] The mobile object control unit may estimate its own position and create a map of the surrounding environment based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit.

[0014] The mobile object control unit may determine the target baseline length based on the state variables.

[0015] The moving body control unit may determine a target imaging range based on the state variables, and determine a target baseline length based on the target imaging range.

[0016] The moving body control unit may acquire a stereo camera imaging range that is included in both the imaging range of the first imaging unit and the imaging range of the second imaging unit based on the current baseline length, and may determine a target baseline length based on a comparison of the target imaging range and the stereo camera imaging range.

[0017] The mobile body control unit may acquire a target maximum distance indicating the maximum distance of the target imaging range and a target minimum distance indicating the minimum distance of the target imaging range based on the state variables, acquire an imaging maximum distance indicating the maximum distance of the stereo camera imaging range based on the current baseline length, and an imaging minimum distance indicating the minimum distance of the stereo camera imaging range, and determine the target baseline length based on the target maximum distance, the target minimum distance, the imaging maximum distance, and the imaging minimum distance.

[0018] The moving object may be provided as a vehicle.

[0019] The moving object may be provided as an air vehicle.

[0020] Another aspect of the present disclosure relates to a method for controlling a moving body that moves at least one of a first imaging unit and a second imaging unit so that a baseline length between the first imaging unit and the second imaging unit is adjusted to a target baseline length corresponding to a state variable indicating information about a variable imaging state of the first imaging unit and the second imaging unit provided in the moving body. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram for explaining the imaging range of a stereo camera mounted on a moving object. [Diagram 2] FIG. 2 is a diagram showing an example of the relationship between the shooting distance and the distance measurement error of the stereo camera. [Diagram 3] FIG. 3 is a plan view showing a schematic configuration of an example of a moving object equipped with a stereo camera capable of changing the baseline length. [Figure 4] FIG. 4 is an enlarged plan view showing the first imaging section, the second imaging section, and the base line length changing section shown in FIG. [Diagram 5] FIG. 5 is a diagram illustrating an example of the imaging directions of the first imaging section and the second imaging section in close-range photography. [Figure 6] FIG. 6 is a diagram illustrating an example of the imaging directions of the first imaging unit and the second imaging unit in long-distance imaging. [Figure 7] FIG. 7 is a block diagram illustrating an example of a functional configuration of a moving object. [Figure 8] FIG. 8 is a block diagram showing an example of a functional configuration of an operation device operated by an operator. [Figure 9] FIG. 9 is a block diagram showing a specific example of the functional configuration of a moving body (particularly, a moving body control unit). [Figure 10] FIG. 10 is a flowchart showing an example of a processing flow of a method for controlling a moving object. [Figure 11] FIG. 11 is a flowchart showing another example of the processing flow of the moving object control method. [Figure 12] FIG. 12 is a flowchart showing another example of the processing flow of the moving object control method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, a technique relating to a variable baseline robot capable of changing the range in the depth direction of imaging and distance measurement (i.e., the depth range) by changing the baseline length of a stereo camera will be described as an example.

[0023] The technology described below is applicable to any moving object, and can be applied to any moving object.

[0024] For example, the following technology can be applied to a moving body provided as a vehicle or an air vehicle (e.g., a drone or an unmanned aerial vehicle). In particular, the following technology can be applied not only to a moving body that moves in response to an operator's operation, but also to a moving body that can move autonomously without the intervention of an operator's operation. In this way, the following technology can be applied to an autonomous mobile robot or an unmanned aerial vehicle that uses a stereo camera as a passive sensor to measure the distance to the outside world, recognize the 3D structure of the surrounding environment, and move autonomously.

[0025] Examples of such mobile objects include mobile objects that carry luggage (e.g., AGVs: Automated Guided Vehicles), mobile objects that capture images while tracking targets, and mobile objects that perform Simultaneous Localization and Mapping (SLAM) processing. Mobile objects that perform SLAM processing can estimate their own position and create a map of the surrounding environment based on images captured by stereo cameras, and can be used in a variety of fields, such as robot vacuum cleaners and area inspection robots. SLAM is a technical field and operation that is widely used as a spatial recognition technology for robots, and is one of the fields to which the technology described below can contribute.

[0026] FIG. 1 is a schematic diagram for explaining the imaging range of a stereo camera mounted on a moving object 10. As shown in FIG.

[0027] In a moving object 10 shown in FIG. 1, a first imaging unit 11 and a second imaging unit 12 provided as stereo cameras are mounted on a main body 13 of the moving object.

[0028] The imaging directions (ie, the depth direction of the imaging range) of the first imaging section 11 and the second imaging section 12 are directed forward of the moving body 10, and the first imaging section 11 and the second imaging section 12 capture images of an object located in front.

[0029] 1, a triangular area extending upward from the first imaging unit 11 generally indicates the imaging range of the first imaging unit 11 (i.e., the first imaging range R1). Similarly, a triangular area extending upward from the second imaging unit 12 generally indicates the imaging range of the second imaging unit 12 (i.e., the second imaging range R2).

[0030] The range included in both the first imaging range R1 and the second imaging range R2 (that is, the overlapping range) becomes the imaging range of the stereo camera (that is, the stereo camera imaging range R0).

[0031] For an object included in the stereo camera imaging range R0, it is possible to measure the distance (i.e., to measure the distance in the depth direction) from the images acquired by the first imaging unit 11 and the second imaging unit 12. On the other hand, for an object located outside the stereo camera imaging range R0, in principle, it is not possible to derive the distance in the depth direction from the images acquired by the first imaging unit 11 and the second imaging unit 12.

[0032] The stereo camera imaging range R0 changes according to the base length Lb indicating the distance between the first imaging unit 11 and the second imaging unit 12 (for example, the distance between the objective lens of the first imaging unit 11 and the objective lens of the second imaging unit 12). As is clear from Fig. 1, as the base length Lb increases (is longer), the stereo camera imaging range R0 moves farther away from the moving object 10. On the other hand, as the base length Lb decreases (is shorter), the stereo camera imaging range R0 moves closer to the moving object 10.

[0033] Therefore, when imaging an object located near the moving body 10, it is necessary to make the baseline length Lb sufficiently small.

[0034] FIG. 2 is a diagram showing an example of the relationship between the shooting distance of a stereo camera and the distance measurement error. In FIG. 2, the horizontal axis represents the distance (m: meter) from the stereo camera, and the vertical axis represents the magnitude of the distance measurement error (m).

[0035] In FIG. 2, “G1” represents a case where the baseline length is relatively small, “G2” represents a case where the baseline length is medium, and “G3” represents a case where the baseline length is relatively large (that is, “the baseline length of G1 < the baseline length of G2 < the baseline length of G3”). The relationship example shown in FIG. 2 is based on experimental results, and by changing the baseline length while maintaining other conditions the same except for the baseline length, the relationship examples of “G1”, “G2” and “G3” shown in FIG. 2 are obtained.

[0036] As is also clear from FIG. 2, regarding long-distance shooting, as the baseline length Lb of the stereo camera increases, the distance measurement error decreases, and as the baseline length Lb decreases, the distance measurement error tends to increase. Therefore, when imaging an object located far from the moving body 10, it is more advantageous to have a larger baseline length Lb, and if the baseline length Lb is small, the distance measurement accuracy is not necessarily good.

[0037] Therefore, the actual stereo camera imaging range R0 is determined within a range where the distance measurement error is below the allowable value (that is, “allowable error”).

[0038] Note that the allowable value of the distance measurement error may vary depending on the use and usage situation of the moving body 10. Therefore, the allowable value of the distance measurement error may be variable according to the use and usage situation of the moving body 10.

[0039] As described above, in imaging using a stereo camera, a smaller baseline length Lb is advantageous when imaging a close-up object (i.e., close-distance imaging), and a longer baseline length Lb is advantageous when imaging a long-distance object (i.e., long-distance imaging). Therefore, by making the baseline length Lb smaller when imaging a close-up object and making the baseline length Lb larger when imaging a long-distance object, it is possible to appropriately image both close-distance objects and long-distance objects with a single stereo camera.

[0040] Fig. 3 is a plan view showing a schematic configuration of an example of a moving body 10 equipped with a stereo camera capable of changing the base line length Lb. Fig. 4 is an enlarged plan view showing the first imaging unit 11, the second imaging unit 12, and the base line length changing unit 20 shown in Fig. 3.

[0041] The moving body 10 shown in Figures 3 and 4 comprises a stereo camera including a first imaging unit 11 and a second imaging unit 12, a baseline length changing unit 20 that changes the baseline length Lb of the stereo camera, and a moving body main body 13 on which the stereo camera and the baseline length changing unit 20 are fixedly mounted.

[0042] Although not shown in the drawings, a movement drive device for moving the moving body 10 is attached to the moving body main body 13. The movement drive device is not limited, and may include, for example, a prime mover such as an engine or a motor, wheels, and a propeller.

[0043] The baseline length changing unit 20 can be constructed by any device capable of moving at least one of the first imaging unit 11 and the second imaging unit 12 so as to change the baseline length Lb between the first imaging unit 11 and the second imaging unit 12.

[0044] 3 and 4 includes a slide guide 21 and movable stages 22 and 23 that are movable along the slide guide 21. The slide guide 21 can be formed of, for example, a ball bearing or an LM guide (Linear Motion Guide).

[0045] The movable stages 22, 23 have the first imaging unit 11 and the second imaging unit 12 fixed thereto, respectively, and move together with the first imaging unit 11 and the second imaging unit 12 while being guided by the slide guide 21. Each of the movable stages 22, 23 is equipped with, for example, a motor, and can be moved symmetrically in a direction parallel to the slide guide 21 by the power output from the motor, and can be stopped at a desired position.

[0046] The base line length changing unit 20 is not limited to the device configuration shown in FIGS.

[0047] For example, both the first imaging unit 11 and the second imaging unit 12 may be moved by power from a single drive source. As an example, although not shown, a pinion may be attached to the rotating shaft of a motor, and the first imaging unit 11 and the second imaging unit 12 may be attached to two rod-shaped racks that engage with the pinion. In this case, the first imaging unit 11 and the second imaging unit 12 are moved symmetrically and simultaneously in response to the rotation of the motor rotating shaft, and the baseline length Lb can be adjusted.

[0048] The base line length changing unit 20 of this embodiment adjusts the base line length Lb of the first imaging unit 11 and the second imaging unit 12 to a target base line length under the control of a moving object control unit (see FIG. 7 etc.) described later.

[0049] The target baseline length is a baseline length Lb for setting the depth direction range of the stereo camera imaging range R0 to a desired range.

[0050] The target baseline length in this embodiment is determined in accordance with the state variables.

[0051] The “state variables” referred to here represent the states of the first imaging section 11 and the second imaging section 12, and may include, for example, any of the moving speed, inclination, and altitude of the first imaging section 11 and the second imaging section 12.

[0052] Therefore, the moving body 10 of this embodiment can optimize the base length Lb according to the imaging state and adaptively change the depth range of the stereo camera imaging range R0 according to the imaging state. As a result, it is possible to appropriately capture and measure the distance to both close and long distance objects using a single stereo camera depending on the situation. Note that "adaptively changing the depth range of the stereo camera imaging range R0 according to the imaging state" here includes both changing the depth range in a stepwise manner and changing it steplessly.

[0053] The above-mentioned state variables may include any information that may affect the determination of the desired shooting distance range. Typically, the state variables may include at least one of information related to the moving speed of the moving body 10, information related to the inclination of the imaging direction of the first imaging unit 11 and the second imaging unit 12, and information related to the altitude of the moving body 10. The moving speed of the moving body 10 referred to here basically coincides with the moving speed of the first imaging unit 11 and the second imaging unit 12 mounted on the moving body 10. Similarly, the altitude of the moving body 10 basically coincides with the altitude of the first imaging unit 11 and the second imaging unit 12 mounted on the moving body 10.

[0054] In general, when the moving speed of the moving body 10 is slow, the stereo camera mounted on the moving body 10 is often desired to take close-up shots, and when the moving speed of the moving body 10 is fast, the stereo camera mounted on the moving body 10 is often desired to take long-distance shots.

[0055] As an example, in a case where the moving body 10 is provided as a vehicle, information on nearby objects is usually required in a parking lot where slow driving is required, whereas information on distant objects is usually required on a road where high speed driving is required. Therefore, usually, when the moving speed of the moving body 10 is slow, it is preferable to set the base line length Lb of the stereo camera relatively small, and when the moving speed of the moving body 10 is fast, it is preferable to set the base line length Lb of the stereo camera relatively large.

[0056] The information regarding the moving speed of the moving body 10 may be information that directly indicates the moving speed of the moving body 10, or may be information that indirectly indicates the moving speed of the moving body 10.

[0057] For example, acceleration information of the moving body 10 may be used as information on the moving speed of the moving body 10. When the positive acceleration of the moving body 10 is large, it is usually required that the moving body 10 move quickly, and it is preferable that the baseline length Lb of the stereo camera is set relatively large. On the other hand, when the negative acceleration (i.e., deceleration) of the moving body 10 is large, it is usually required that the moving body 10 move slowly, and it is preferable that the baseline length Lb of the stereo camera is set relatively small.

[0058] Fig. 5 is a diagram showing an example of an imaging direction Ds of the first imaging unit 11 and the second imaging unit 12 in close-range photography. Fig. 6 is a diagram showing an example of an imaging direction Ds of the first imaging unit 11 and the second imaging unit 12 in long-range photography.

[0059] In general, when a target object T located near the stereo camera (first imaging unit 11 and second imaging unit 12) is photographed (i.e., when the distance Dt to the object is short), the imaging direction Ds is close to the vertical direction (i.e., downward direction) as shown in Fig. 5. On the other hand, when a target object T located far from the stereo camera is photographed (i.e., when the distance Dt to the object is long), the imaging direction Ds is close to the horizontal direction (i.e., lateral direction) as shown in Fig. 6.

[0060] Therefore, in general, when the imaging direction Ds is close to the vertical direction, it is preferable to set the baseline length Lb of the stereo camera relatively small, and when the imaging direction Ds is close to the horizontal direction, it is preferable to set the baseline length Lb of the stereo camera relatively large.

[0061] The correspondence between the imaging direction Ds and the optimal stereo camera imaging range R0 is not necessarily uniquely determined, and may vary depending on the imaging performance of the first imaging unit 11 and the second imaging unit 12, such as the angle of view.

[0062] For example, shooting a target object T located within 5 m from the stereo camera may be considered to be close-up shooting, whereas shooting a target object T located 10 m or more away from the stereo camera may be considered to be long-distance shooting. On the other hand, depending on the type of moving body 10, shooting a target object T located 5 m or more away from the stereo camera may be considered to be close-up shooting, and shooting a target object T located within 10 m from the stereo camera may be considered to be long-distance shooting.

[0063] Furthermore, when the moving body 10 is provided as an air vehicle, generally, close-up photography is often desired when the altitude of the moving body 10 is low, and long-distance photography is often desired when the altitude of the moving body 10 is high.

[0064] Therefore, in general, when the altitude of the moving body 10 is low, it is preferable that the baseline length Lb of the stereo camera be set relatively small, and when the altitude of the moving body 10 is high, it is preferable that the baseline length Lb of the stereo camera be set relatively large.

[0065] The correspondence between the altitude of the moving body 10 and the optimal stereo camera imaging range R0 is not necessarily unique, and may vary depending on the imaging performance such as the angle of view of the first imaging unit 11 and the second imaging unit 12. For example, when the altitude of the moving body 10 is less than 1 m above the ground, close-up shooting may be preferable, and when the altitude of the moving body 10 is 1 m or more above the ground, long-distance shooting may be preferable. On the other hand, depending on the type of moving body 10, there may be cases where close-up shooting is preferable even if the altitude of the moving body 10 is 1 m or more, and long-distance shooting is preferable even if the altitude of the moving body 10 is less than 1 m.

[0066] When a plurality of types of state variables are used to determine the target baseline length, it is preferable to determine the target baseline length according to the priorities and composite combinations of those state variables.

[0067] For example, when the target baseline length is determined based on information related to the moving speed of the moving body 10 and information related to the inclination of the imaging direction Ds, the weight of the information related to the inclination of the imaging direction Ds may be greater than the weight of the information related to the moving speed of the moving body 10. Also, when the target baseline length is determined based on information related to the altitude of the moving body 10 and information related to the inclination of the imaging direction Ds, the weight of the information related to the altitude of the moving body 10 may be greater than the weight of the information related to the inclination of the imaging direction Ds.

[0068] A moving body control unit (see FIG. 7, etc., described later) that controls the moving body 10 can determine the target baseline length from the above-mentioned state variables by any method.

[0069] The mobile object control unit may determine the target baseline length from the state variables, for example, by referring to a "data group (reference table) in which target baseline lengths correspond to state variables" prepared in advance. Such a reference table may be acquired based on experimental results or simulation results, or may be acquired as a theoretical value. When determining the target baseline length using two or more types of state variables, the mobile object control unit may use a multidimensional reference table. The mobile object control unit may also determine the target baseline length by performing calculations according to a predetermined calculation formula with the state variables as parameters.

[0070] The mobile object control unit controls the baseline length changing unit 20 so that the baseline length Lb of the stereo camera is appropriately adjusted to the target baseline length derived as described above. This allows the mobile object control unit to accurately derive the distance to the target object T based on the imaging data acquired by the first imaging unit 11 and the imaging data acquired by the second imaging unit 12, regardless of the distance from the stereo camera to the target object T.

[0071] In this way, the moving object 10 of this embodiment is capable of appropriately capturing images of both close-distance objects and long-distance objects using a single stereo camera depending on the situation.

[0072] Therefore, there is no need to provide separate stereo cameras for close-up and long-distance photography, and it is possible to reduce the number of stereo cameras (specifically, imaging units) mounted on the moving body 10. This can bring about various benefits, such as reduced manufacturing costs, reduced driving power consumption, simplified configuration of the moving body 10, and reduced weight of the moving body 10.

[0073] In addition, since the above-mentioned baseline length changing unit 20 can continuously and variably change the baseline length Lb of the stereo camera, the stereo camera imaging range R0 can also be continuously and variably changed. This allows the baseline length Lb of the stereo camera to correspond to the desired imaging range (distance measurement range) more precisely than when the imaging range (distance measurement range) is switched discretely (discontinuously) by switching the stereo camera actually used.

[0074] Furthermore, the moving object control unit can generate a stereoscopic image or a viewpoint conversion image with a high degree of recognition by using the above-mentioned stereo camera images (that is, the images captured by the first imaging unit 11 and the second imaging unit 12).

[0075] In addition, the mobile object control unit can estimate its own position and create a map of the surrounding environment based on the imaging data acquired by the first imaging unit 11 and the imaging data acquired by the second imaging unit 12 with high accuracy.

[0076] Next, an example of the functional configuration of the moving object 10 will be described.

[0077] Fig. 7 is a block diagram showing an example of the functional configuration of the moving object 10. Fig. 8 is a block diagram showing an example of the functional configuration of an operation device 70 operated by an operator.

[0078] The moving object 10 shown in FIG. 7 includes a moving object transceiver 30, an imaging state measuring unit 32, and a moving object driving unit 33 in addition to the first imaging unit 11, the second imaging unit 12, and the moving object control unit 31 described above.

[0079] The mobile transceiver 30 transmits and receives signals wirelessly or via wires to and from the operation device 70 (particularly an operation transceiver 71, which will be described later).

[0080] The imaging condition measuring unit 32 measures state variables and transmits the measurement results (i.e., state variables) to the moving body control unit 31. Therefore, the imaging condition measuring unit 32 may include, for example, a sensor that measures information related to the moving speed of the moving body 10, a sensor that measures information related to the inclination of the imaging direction Ds of the first imaging unit 11 and the second imaging unit 12, and a sensor that measures information related to the altitude of the moving body 10.

[0081] Sensors that measure information regarding the moving speed of the moving body 10 may include, for example, a sensor that measures the speed of the moving body 10, a sensor that measures the acceleration of the moving body 10 (e.g., an IMU: Inertia Measurement Unit), and a sensor that acquires position information of the moving body 10 over time.

[0082] Therefore, the information regarding the moving speed of the moving body 10 may include the speed of the moving body 10 measured by a speed sensor, the acceleration of the moving body 10 measured by an acceleration sensor, and the position information of the moving body 10 obtained over time by a GPS (Global Positioning System).

[0083] Furthermore, when the moving body 10 is moved using power output from a motor, the output of an encoder attached to the motor may also be included in the information regarding the moving speed of the moving body 10. The output of the encoder may indicate, for example, the number of rotations (rotational speed), angle, and angular velocity of the rotating shaft of the motor.

[0084] Sensors that measure information regarding the inclination of the imaging direction Ds of the first imaging unit 11 and the second imaging unit 12 may include a sensor that measures the attitude (inclination) of the entire moving body 10 and a sensor that measures the attitude (inclination) of the first imaging unit 11 and the second imaging unit 12.

[0085] The sensor that measures information regarding the altitude of the moving body 10 may include a sensor that measures the altitude of the entire moving body 10 and a sensor that measures the altitude of individual elements of the moving body 10 (for example, the first imaging unit 11 and the second imaging unit 12).

[0086] The mobile body driving unit 33 drives each element constituting the mobile body 10 under the control of the mobile body control unit 31. In particular, the mobile body driving unit 33 of this embodiment includes a base line length changing unit 20 (see FIG. 9 described later) and adjusts the base line length Lb of the stereo cameras (first imaging unit 11 and second imaging unit 12). The mobile body control unit 31 controls the mobile body driving unit 33 based on drive instruction information from the operation device 70 received via the mobile body transceiver 30.

[0087] The movable body driving unit 33 is not limited to a driving target, and may drive other elements constituting the movable body 10. For example, the movable body driving unit 33 may drive elements included in the first imaging unit 11 and the second imaging unit 12 to adaptively adjust the imaging states of the first imaging unit 11 and the second imaging unit 12.

[0088] Furthermore, the mobile body control unit 31 may perform calculation processing and other arbitrary processing in addition to driving control of the device. For example, the mobile body control unit 31 may analyze the captured images acquired by the first imaging unit 11 and the second imaging unit 12, and control the mobile body driving unit 33 based on the image analysis results.

[0089] Therefore, in the case of the moving body 10 performing SLAM processing, the moving body control unit 31 may estimate the self-position of the moving body 10 and create a map of the surrounding environment of the moving body 10 based on the analysis results of the captured images acquired by the first imaging unit 11 and the second imaging unit 12. Note that the specific processing method of SLAM (the method of estimating the self-position and the method of creating a map of the surrounding environment) is not limited and can be executed by any processing.

[0090] The mobile object control unit 31 can be configured by appropriately combining hardware and software, and may be provided as a single unit or may be configured by combining multiple units.

[0091] On the other hand, the operation device 70 shown in FIG.

[0092] The operation transceiver 71 transmits and receives signals to and from the mobile body 10 (particularly the mobile body transceiver 30) wirelessly or via wires.

[0093] The operation control unit 72 can perform any processing in response to an input from an operator via the operation interface 73. For example, the operation control unit 72 transmits information such as drive instruction information via the operation transceiver 71, receives various information via the operation transceiver 71, and performs various calculations required by the operation device 70.

[0094] The operation interface 73 is operated by an operator, receives input from the operator, and transmits the input to the operation control unit 72. The specific form of the operation interface 73 is not limited, and the operation interface 73 may include, for example, a button, a switch, a touch panel, and a voice recognition device.

[0095] There is no limitation on the specific form of the above-mentioned operation device 70. The operation device 70 may be provided integrally with the moving body 10, may be provided separately from the moving body 10, or may be provided movably independent of the moving body 10.

[0096] As described above, the target baseline length is determined according to the state variables, but the state variables can be acquired by any method.

[0097] For example, when the drive instruction information includes information on a state variable, the target baseline length may be determined according to the state variable acquired based on the drive instruction information. In this case, the mobile object control unit 31 controls the baseline length changing unit 20 so that the baseline length Lb of the stereo camera is adjusted to the target baseline length according to the state variable acquired based on the drive instruction information.

[0098] The target baseline length may also be determined according to the state variables acquired from the imaging state measuring unit 32. In this case, the mobile object control unit 31 controls the baseline length changing unit 20 so that the baseline length Lb of the stereo camera is adjusted to the target baseline length according to the state variables acquired from the imaging state measuring unit 32.

[0099] When the moving body 10 moves under autonomous control, it is preferable that the target baseline length be determined in accordance with the state variables acquired from the imaging state measuring unit 32 .

[0100] Furthermore, when the moving body 10 is moved outside the visible range of the operator, it is difficult to timely transmit appropriate driving instruction information according to the situation from the operation device 70 to the moving body 10. Therefore, even in this case, it is preferable that the target baseline length be determined according to the state variables acquired from the imaging state measuring unit 32.

[0101] It is also assumed that the state variables included in the drive instruction information may not strictly match the current imaging state of the moving body 10 due to external factors, etc. Therefore, from the viewpoint of using highly accurate state variables, it is preferable that the target baseline length be determined according to the state variables acquired from the imaging state measurement unit 32.

[0102] FIG. 9 is a block diagram showing a specific example of the functional configuration of the moving object 10 (particularly the moving object control unit 31).

[0103] The moving object control unit 31 shown in FIG. 9 includes a device driving controller 36, a baseline length data storage unit 37, a sensor information acquisition unit 38, a baseline length determination unit 39, and a baseline length controller 40.

[0104] The device driving controller 36 is a controller that controls various movements of the moving body 10, for example, the movement of the moving body 10. Specifically, the device driving controller 36 sends a control instruction to a device driving unit 45 included in the moving body driving unit 33 for driving and controlling the device driving unit 45. The device driving unit 45 drives various elements of the moving body 10 based on the control instruction from the device driving controller 36.

[0105] The device driving controller 36 can send control information related to the driving of various elements of the moving body 10 to the base line length determination unit 39 and the base line length controller 40. The device driving controller 36 may have a storage unit (not shown), and may store information (including control information) related to the driving of various elements of the moving body 10 in the storage unit.

[0106] The baseline length data storage unit 37 stores the above-mentioned "reference table in which the target baseline length is associated with the state variables."

[0107] The sensor information acquisition unit 38 receives the state variables acquired by the imaging state measurement unit 32 and sends them to the base line length determination unit 39 .

[0108] The baseline length determination unit 39 reads out the reference table from the baseline length data storage unit 37. Then, by referring to the reference table, the baseline length determination unit 39 acquires a target baseline length associated with the state variables sent from the imaging state measurement unit 32 via the sensor information acquisition unit 38. In this manner, the baseline length determination unit 39 shown in Fig. 9 is an arithmetic processing unit that compares the state variables obtained by measurement by the imaging state measurement unit 32 with the reference table.

[0109] The baseline length controller 40 controls the baseline length changing unit 20 included in the moving body driving unit 33 based on the target baseline length sent from the baseline length determining unit 39, and adjusts the baseline length Lb of the stereo camera to the target baseline length.

[0110] At this time, the baseline length controller 40 may control the baseline length changing unit 20 based on the difference between the current baseline length Lb of the stereo camera and the target baseline length determined by the baseline length determining unit 39 (that is, the baseline length adjustment amount).

[0111] The baseline length adjustment amount may be calculated by the baseline length determination unit 39 or by the baseline length controller 40. That is, the baseline length determination unit 39 may obtain the current baseline length Lb of the stereo camera from the device drive controller 36 and calculate the difference between the baseline length Lb and the target baseline length. Alternatively, the baseline length controller 40 may obtain the current baseline length Lb of the stereo camera from the device drive controller 36 and calculate the difference between the baseline length Lb and the target baseline length sent from the baseline length determination unit 39.

[0112] Although the device drive controller 36, the baseline length determination unit 39, and the baseline length controller 40 are shown as separate blocks in FIG. 9, in reality, they may be configured by a common device or by separate devices.

[0113] Next, an example of a process flow of a control method for the moving body 10 (particularly, a control method for changing the base line length Lb of the stereo camera) will be described.

[0114] FIG. 10 is a flowchart showing an example of a process flow of a method for controlling the moving object 10. As shown in FIG.

[0115] The base line length determination unit 39 (see FIG. 9) of the moving object control unit 31 acquires state variables from the driving instruction information sent from the operation device 70 and / or the imaging state measurement unit 32 (S1 in FIG. 10).

[0116] Then, the base line length determination unit 39 determines a target base line length based on the acquired state variables. Specifically, the base line length determination unit 39 determines a target imaging range based on the state variables (S2).

[0117] The target imaging range is represented by a maximum distance and a minimum distance (i.e., a target maximum distance and a target minimum distance) in the depth direction of the stereo camera imaging range R0 appropriate for the state variables. The base line length determination unit 39 estimates the target maximum distance and the target minimum distance based on the acquired state variables.

[0118] The target maximum distance and the target minimum distance can be estimated in any manner.

[0119] For example, the target maximum distance and the target minimum distance may be determined based on a comparison between the state variables and a threshold value. Alternatively, the target maximum distance and the target minimum distance may be determined by checking the state variables against a table in which the state variables are associated with the target maximum distance and the target minimum distance. The table used here may be held by the baseline length determination unit 39, or may be read out by the baseline length determination unit 39 from a storage unit (not shown) of the mobile object control unit 31 as appropriate.

[0120] Then, the base line length determination unit 39 determines the target base line length based on the target imaging range (S3).

[0121] As described above, the stereo camera imaging range R0 is determined according to the stereo camera baseline length Lb. Therefore, the target baseline length is determined so that the stereo camera imaging range R0 determined according to the target baseline length includes the entire target imaging range (i.e., the target maximum distance and the target minimum distance).

[0122] A specific method for determining the target baseline length based on the target imaging range is not limited. For example, the target baseline length may be determined by checking the target imaging range against a table in which the target imaging range and the target baseline length are associated with each other. The table used here may be held by the baseline length determination unit 39, or may be read out by the baseline length determination unit 39 from a storage unit (not shown) of the mobile object control unit 31 as appropriate.

[0123] Then, the baseline length controller 40 (see FIG. 9) of the moving object control unit 31 acquires the current baseline length Lb of the first imaging unit 11 and the second imaging unit 12 (S4). The baseline length controller 40 may acquire the current baseline length Lb from, for example, the device driving controller 36.

[0124] Then, the baseline length controller 40 determines the baseline length adjustment amount based on the target baseline length determined by the baseline length determination unit 39 and the current baseline length Lb (S5).

[0125] Then, the baseline length controller 40 controls the baseline length changing unit 20 based on the determined baseline length adjustment amount (S6), whereby the first imaging unit 11 and the second imaging unit 12 move from their current positions by a distance equivalent to the baseline length adjustment amount, and the baseline length Lb is adjusted to the target baseline length.

[0126] Next, another example of the process flow of the control method for the moving body 10 (particularly, an example of the control method for changing the baseline length Lb of the stereo camera) will be described.

[0127] 11 and 12 are flowcharts showing another example of the processing flow of the control method for the moving body 10. In Fig. 11 and Fig. 12, as an example, it is assumed that the moving body 10 is an air vehicle (e.g., a drone), but the following processing flow is also applicable to the case where the moving body 10 is other than an air vehicle.

[0128] In this example, first, it is determined whether or not to capture an image of an object (i.e., a subject to be photographed) while tracking it using the stereo camera (first imaging unit 11 and second imaging unit 12) mounted on the moving object 10 (S11 in FIG. 11).

[0129] For example, when it is necessary to continuously capture a specific moving target, it is necessary to capture the target while tracking the object (i.e., the target) (Y in S11). As an example, tracking capture is necessary when capturing an artist moving around on a stage, or when the moving body 10 follows a moving person or object.

[0130] On the other hand, when there is no need to continuously capture a specific moving target, such as when monitoring a location itself, object tracking is not necessary (N in S11).

[0131] The above-mentioned determination in step S11 is performed by an operator. That is, the operator operates the operation device 70 (directly, the operation interface 73 (see FIG. 8)) to transmit information on the determination in step S11 to the moving object 10 (particularly, the moving object control unit 31 (see FIG. 7 and FIG. 9)).

[0132] When it is necessary to capture an image using a stereo camera while tracking an object (Y in S11), the baseline length determination unit 39 of the moving body control unit 31 acquires the angle θ (state variable) of the imaging direction Ds of the first imaging unit 11 and the second imaging unit 12 (S12).

[0133] The base line length determination unit 39 may acquire the imaging direction angle θ from the imaging state measurement unit 32 via the sensor information acquisition unit 38, or may acquire the imaging direction angle θ based on drive instruction information from the operation device 70. The imaging direction angle θ in this example can be represented by an angle that the imaging direction Ds makes with respect to a line extending in the vertical direction (i.e., a supplementary angle to the vertical angle), for example, as shown in Figs. 5 and 6.

[0134] The base line length determination unit 39 determines the imaging direction angle θ and the threshold value T θ The magnitude relationship between these values ​​is determined (S13).

[0135] The imaging direction angle θ is the threshold T θ If θ>T θ " (Y in S13), the base line length determination unit 39 sets the target maximum distance Lmax to a value greater than the reference value so that long distance shooting is possible (S14). In this case, the target minimum distance Lmin may be set to the reference value, or may be set to a value according to the target maximum distance Lmax.

[0136] On the other hand, the imaging direction angle θ is the threshold T θ In the following case ("θ≦Tθ"; N in S13), the base line length determination unit 39 sets the target minimum distance Lmin to a value smaller than the reference value so that close-range photography is possible (S15). In this case, the target maximum distance Lmax may be set to the reference value or may be set to a value according to the target minimum distance Lmin.

[0137] Note that the threshold T θ is determined appropriately according to the imaging performance of the stereo camera, and may be determined in advance or by an operator. θ and a threshold T used to determine the target minimum distance Lmin. θ may be the same as or different from each other.

[0138] On the other hand, if tracking of the object is not required (N in S11), the base line length determination unit 39 acquires the moving speed V of the moving body 10 (S16).

[0139] The base line length determination unit 39 may acquire the moving speed V from the imaging state measurement unit 32 via the sensor information acquisition unit 38, or may acquire the moving speed V based on drive instruction information from the operation device .

[0140] The base line length determination unit 39 then calculates the base line length based on the moving speed V of the moving body 10. V It is determined whether it is greater than (S17).

[0141] Movement speed V is threshold T V If V>T V " (Y in S17), the base line length determination unit 39 sets the target maximum distance Lmax to a value greater than the reference value so that long distance shooting is possible (S18). In this case, the target minimum distance Lmin may be set to the reference value, or may be set to a value according to the target maximum distance Lmax.

[0142] On the other hand, the moving speed V is the threshold T V In the following cases (V≦T V " (N in S17), the base line length determination unit 39 sets the target minimum distance Lmin to a value smaller than the reference value so that close-range photography is possible (S19). In this case, the target maximum distance Lmax may be set to the reference value, or may be set to a value according to the target minimum distance Lmin.

[0143] Note that the threshold T Vis determined appropriately according to the imaging performance of the stereo camera, and may be determined in advance or by an operator. V and a threshold T used to determine the target minimum distance Lmin. V may be the same as or different from each other.

[0144] Then, the base line length determination unit 39 acquires the stereo camera image capturing range R0 based on the current base line length Lb (S20 in FIG. 12).

[0145] In this example, the baseline length determination unit 39 obtains an imaging maximum distance Dmax indicating the maximum distance of the stereo camera imaging range R0 based on the current baseline length Lb, and an imaging minimum distance Dmin indicating the minimum distance of the stereo camera imaging range R0. The baseline length determination unit 39 may obtain information on the stereo camera imaging range R0 from the device drive controller 36, or may read information on the stereo camera imaging range R0 from a storage unit (not shown).

[0146] Note that the maximum imaging distance Dmax is theoretically infinite, but in reality, the distance measurement error increases with an increase in the imaging distance as shown in Fig. 2. Therefore, the maximum imaging distance Dmax and the target maximum distance Lmax may be acquired and determined so that the distance measurement error is within the allowable value (±7.5 m in the example shown in Fig. 2).

[0147] Then, the base line length determination unit 39 judges whether or not "Lmax≦Dmax" and "Lmin≧Dmin" are satisfied (S21).

[0148] If the target maximum distance Lmax is less than or equal to the maximum imaging distance Dmax and the target minimum distance Lmin is greater than or equal to the minimum imaging distance Dmin (Y in S21), the target imaging range is included in the current stereo camera imaging range R0, so the baseline length Lb is not changed (S22).

[0149] On the other hand, when "Lmax ≦ Dmax" and "Lmin ≧ Dmin" are not satisfied (N in S21), the baseline length determination unit 39 determines whether the target maximum distance Lmax is greater than the imaging maximum distance Dmax (S23).

[0150] When "Lmax > Dmax" is not satisfied (N in S23), it is considered that the imaging range is insufficient only on the near - distance side (that is, "Lmax ≦ Dmax" and "Lmin < Dmin"). Therefore, the baseline length controller 40 controls the baseline length change unit 20 to shorten the baseline length Lb of the stereo camera and adjust it to the target baseline length determined by the baseline length determination unit 39 (S27). As a result, "Lmax ≦ Dmax" and "Lmin ≧ Dmin" are satisfied.

[0151] On the other hand, when "Lmax > Dmax" is satisfied (Y in S23), the baseline length determination unit 39 determines whether the target minimum distance Lmin is greater than the imaging minimum distance Dmin (S24).

[0152] When "Lmin > Dmin" is satisfied (Y in S24), it is considered that the imaging range is insufficient only on the far - distance side (that is, "Lmax > Dmax" and "Lmin ≧ Dmin"). Therefore, the baseline length controller 40 controls the baseline length change unit 20 to increase the baseline length Lb of the stereo camera and adjust it to the target baseline length determined by the baseline length determination unit 39 (S25). As a result, "Lmax ≦ Dmax" and "Lmin ≧ Dmin" are satisfied.

[0153] On the other hand, when "Lmin > Dmin" is not satisfied (N in S24), it is considered that the imaging range is insufficient on both the near - distance side and the far - distance side (that is, "Lmax > Dmax" and "Lmin < Dmin"). In this case, even if the baseline length Lb of the stereo camera is adjusted, the stereo camera imaging range R0 cannot be adapted to the target imaging range. Therefore, the movement system control unit 31 (for example, the baseline length controller 40) uses other means (for example, another stereo camera or another distance measuring device such as LIDAR) not shown in the figure or notifies the operator (S26).

[0154] In this way, according to the process flows shown in FIGS. 11 and 12, the target baseline length can be determined based on a comparison between the target image capture range and the stereo camera image capture range R0.

[0155] That is, the mobile object control unit 31 (particularly the baseline length determination unit 39) acquires a target imaging range (target maximum distance and target minimum distance) based on the state variables, and acquires a stereo camera imaging range R0 (maximum imaging distance and minimum imaging distance) based on the current baseline length. The mobile object control unit 31 then determines a target baseline length based on the target maximum distance, the target minimum distance, the maximum imaging distance, and the minimum imaging distance, and can adjust the baseline length Lb of the stereo camera to an optimal baseline length according to the situation based on the target baseline length.

[0156] It should be noted that the process flows shown in FIGS. 11 and 12 are merely examples, and the contents of each process step are not necessarily limited to the processes described above.

[0157] For example, in the above steps S12 to S15 (see FIG. 11), the angle θ of the imaging direction Ds is used as the state variable, but another state variable (for example, the altitude of the moving body 10) may be used. Similarly, in the above steps S16 to S19, the moving speed V of the moving body 10 is used as the state variable, but another state variable (for example, the altitude of the moving body 10) may be used.

[0158] The target imaging range (i.e., the target maximum distance Lmax and the target minimum distance Lmin) may also be determined based on composite information of two or more types of state variables (e.g., the moving speed V of the moving body 10, the angle θ of the imaging direction Ds, and the altitude of the moving body 10).

[0159] [Variations] In the above-described embodiment, the target baseline length is determined in the moving body 10 (particularly the baseline length determination unit 39 of the moving body control unit 31), but the target baseline length determined in a device separate from the moving body 10 (for example, the operation device 70) may be sent to the moving body 10. For example, the operation control unit 72 of the operation device 70 may derive the target baseline length based on state variables acquired from the drive instruction information, and the target baseline length derived in this manner may be sent to the moving body control unit 31 via the operation transceiver 71 and the moving body transceiver 30.

[0160] Further, while the stereo camera in the above-described embodiment is equipped with a first imaging unit 11 and a second imaging unit 12, the stereo camera may include any number of imaging units greater than or equal to two, and the moving body 10 may be equipped with three or more imaging units.

[0161] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative and should not be construed as limiting in all respects. The above-mentioned embodiments and modifications can be omitted, substituted, and modified in various forms without departing from the scope and spirit of the appended claims. For example, the above-mentioned embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-mentioned embodiments or modifications. In addition, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0162] The technical category embodying the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program for causing a computer to execute one or more procedures (steps) included in a method for manufacturing or using the above device. The above technical idea may also be embodied by a non-transitory recording medium readable by a computer on which such a computer program is recorded.

[0163] The present disclosure may also have the following configuration.

[0164] [Item 1] A stereo camera including a first imaging unit and a second imaging unit; a baseline length change unit that moves at least one of the first imaging unit and the second imaging unit so as to change a baseline length between the first imaging unit and the second imaging unit; a moving object control unit that controls the baseline length changing unit so that the baseline length is adjusted to a target baseline length corresponding to a state variable that indicates information on a variable imaging state of the first imaging unit and the second imaging unit; and A mobile body comprising:

[0165] [Item 2] The state variables include information regarding at least one of a moving speed of the moving object, an inclination of an imaging direction of the first imaging unit and the second imaging unit, and an altitude of the moving object. Item 1. A mobile object according to item 1.

[0166] [Item 3] an imaging state measurement unit for measuring the state variable; The moving body control unit controls the baseline length changing unit so that the baseline length is adjusted to the target baseline length according to the state variable acquired from the imaging state measuring unit. 3. A mobile object according to item 1 or 2.

[0167] [Item 4] A moving body drive unit that drives the moving body, The moving body control unit receives drive instruction information and controls the moving body drive unit based on the drive instruction information; the driving instruction information includes information regarding the state variable, The moving body control unit controls the baseline length changing unit so that the baseline length is adjusted to the target baseline length according to the state variable acquired based on the drive instruction information. 3. A mobile object according to item 1 or 2.

[0168] [Item 5] The moving object control unit derives a distance to a target object based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit. 5. A mobile object according to any one of items 1 to 4.

[0169] [Item 6] The mobile object control unit estimates its own position and creates a map of the surrounding environment based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit. 6. A mobile object according to any one of items 1 to 5.

[0170] [Item 7] The moving object control unit determines the target baseline length based on the state variables. 7. A mobile object according to any one of items 1 to 6.

[0171] [Item 8] The moving object control unit includes: determining a target imaging range based on the state variables; determining the target baseline length based on the target imaging range Item 8. A mobile object according to item 7.

[0172] [Item 9] The moving object control unit includes: Acquire a stereo camera imaging range that is included in both the imaging range of the first imaging unit and the imaging range of the second imaging unit based on the current baseline length; The target baseline length is determined based on a comparison between the target imaging range and the stereo camera imaging range. Item 9. A mobile object according to item 8.

[0173] [Item 10] The moving object control unit includes: obtaining a target maximum distance indicating a maximum distance of the target imaging range and a target minimum distance indicating a minimum distance of the target imaging range based on the state variable; Acquire an imaging maximum distance indicating a maximum distance of the stereo camera imaging range based on the current baseline length and an imaging minimum distance indicating a minimum distance of the stereo camera imaging range; The target baseline length is determined based on the target maximum distance, the target minimum distance, the imaging maximum distance, and the imaging minimum distance. Item 10. A mobile object according to item 9.

[0174] [Item 11] 11. The moving body according to any one of items 1 to 10, which is provided as a vehicle.

[0175] [Item 12] The moving body according to any one of items 1 to 10, which is provided as an aircraft.

[0176] [Item 13] At least one of the first imaging unit and the second imaging unit is moved so that a baseline length between the first imaging unit and the second imaging unit is adjusted to a target baseline length according to a state variable indicating information about a variable imaging state of the first imaging unit and the second imaging unit included in the moving body. A method for controlling a moving object.

[0177] [Item 14] On the computer, execute a procedure of moving at least one of the first imaging unit and the second imaging unit so that a baseline length between the first imaging unit and the second imaging unit is adjusted to a target baseline length corresponding to a state variable indicating information about a variable imaging state of the first imaging unit and the second imaging unit included in a moving object; program. [Explanation of symbols]

[0178] 10 Mobile 11 First imaging unit 12 Second imaging unit 13 Mobile body 20 Baseline length change section 21 Slide Guide 22 Movable stage 23 Movable Stage 30 Mobile Transceiver 31 Mobile control unit 32 Imaging condition measurement unit 33 Mobile drive unit 36 Device Drive Controller 37 Baseline length data storage unit 38 Sensor information acquisition unit 39 Baseline Length Determination Section 40 Baseline Length Controller 45 Device Drive Unit 70 Operating device 71 Operation Transmitter / Receiver 72 Operation control section 73 Operation Interface Ds Imaging direction Lb Baseline length R0 Stereo camera imaging range R1 First imaging range R2 Second imaging range T target object

Claims

1. A stereo camera including a first imaging unit and a second imaging unit; a baseline length change unit that moves at least one of the first imaging unit and the second imaging unit so as to change a baseline length between the first imaging unit and the second imaging unit; a moving object control unit that controls the baseline length changing unit so that the baseline length is adjusted to a target baseline length corresponding to a state variable that indicates information on a variable imaging state of the first imaging unit and the second imaging unit; and A moving body comprising: The state variables include information regarding at least one of a moving speed of the moving body, an inclination of an imaging direction of the first imaging unit and the second imaging unit, and an altitude of the moving body. Mobile body.

2. an imaging state measurement unit for measuring the state variable; The moving body control unit controls the baseline length changing unit so that the baseline length is adjusted to the target baseline length according to the state variable acquired from the imaging state measuring unit. The moving body according to claim 1 .

3. A stereo camera including a first imaging unit and a second imaging unit; a baseline length change unit that moves at least one of the first imaging unit and the second imaging unit so as to change a baseline length between the first imaging unit and the second imaging unit; a moving object control unit that controls the baseline length changing unit so that the baseline length is adjusted to a target baseline length corresponding to a state variable that indicates information on a variable imaging state of the first imaging unit and the second imaging unit; and A moving body drive unit that drives the moving body, The moving body control unit receives drive instruction information and controls the moving body drive unit based on the drive instruction information; the driving instruction information includes information regarding the state variable, The moving body control unit controls the baseline length changing unit so that the baseline length is adjusted to the target baseline length according to the state variable acquired based on the drive instruction information. Mobile body.

4. The moving object control unit derives a distance to a target object based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit. The moving body according to claim 1 .

5. A stereo camera including a first imaging unit and a second imaging unit; a baseline length change unit that moves at least one of the first imaging unit and the second imaging unit so as to change a baseline length between the first imaging unit and the second imaging unit; a moving object control unit that controls the baseline length changing unit so that the baseline length is adjusted to a target baseline length corresponding to a state variable that indicates information on a variable imaging state of the first imaging unit and the second imaging unit; and Equipped with The mobile object control unit estimates a self-position and creates a map of a surrounding environment based on the imaging data acquired by the first imaging unit and the imaging data acquired by the second imaging unit. Mobile body.

6. The moving object control unit determines the target baseline length based on the state variables. The moving body according to claim 1 .

7. The moving object control unit includes: determining a target imaging range based on the state variables; determining the target baseline length based on the target imaging range The moving body according to claim 6.

8. The moving object control unit includes: acquire a stereo camera image capture range that is included in both the image capture range of the first image capture unit and the image capture range of the second image capture unit based on the current baseline length; The target baseline length is determined based on a comparison between the target imaging range and the stereo camera imaging range. The moving body according to claim 7.

9. The moving object control unit includes: obtaining a target maximum distance indicating a maximum distance of the target imaging range and a target minimum distance indicating a minimum distance of the target imaging range based on the state variable; Acquire an imaging maximum distance indicating a maximum distance of the stereo camera imaging range based on the current baseline length and an imaging minimum distance indicating a minimum distance of the stereo camera imaging range; The target baseline length is determined based on the target maximum distance, the target minimum distance, the imaging maximum distance, and the imaging minimum distance. The moving body according to claim 8.

10. The moving body according to claim 1 , which is provided as a vehicle.

11. The moving body according to claim 1 , which is provided as an aircraft.

12. moving at least one of the first imaging unit and the second imaging unit so that a baseline length between the first imaging unit and the second imaging unit is adjusted to a target baseline length according to a state variable indicating information about a variable imaging state of the first imaging unit and the second imaging unit included in a moving object; The state variables include information regarding at least one of a moving speed of the moving body, an inclination of an imaging direction of the first imaging unit and the second imaging unit, and an altitude of the moving body. A method for controlling a moving object.

13. On the computer, execute a procedure of moving at least one of the first imaging unit and the second imaging unit so that a baseline length between the first imaging unit and the second imaging unit is adjusted to a target baseline length corresponding to a state variable indicating information about a variable imaging state of the first imaging unit and the second imaging unit included in a moving object; A program, The state variables include information regarding at least one of a moving speed of the moving body, an inclination of an imaging direction of the first imaging unit and the second imaging unit, and an altitude of the moving body. program.

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