Information processing device and information processing method

Abstract

To provide a technique, in changing the posture of an imaging apparatus at a change speed avoiding a specified speed range, to reduce frequent switching of the change speed and deviation of a capturing position of a tracking target.SOLUTION: When the change speed of the posture of an imaging apparatus is changed over a threshold within a specified speed range, an information processing apparatus sets the threshold again within the specified speed range in a direction opposite to the direction of the change. When the speed of a tracking target of the imaging apparatus is equal to or more than the threshold within the specific speed range, the information processing apparatus changes the change speed to be equal to or more than an upper limit of the specified speed range, and when the speed of the tracking target is less than the threshold within the specified speed range, changes the change speed to be equal to or less than a lower limit of the specified speed range.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to tracking technology. [Background technology]

[0002] In recent years, there has been an increasing need for remote cameras to automatically capture moving scenes such as lectures and sports scenes. A known technology for achieving this is to adjust the angle of view by performing pan-tilt-zoom (hereafter referred to as PTZ) operations according to the movement of the tracking target, thereby fitting the tracking target within the angle of view.

[0003] Depending on the mechanical characteristics of the PT (pan-tilt) drive unit in a remote camera, vibrations and noise may occur due to resonance when driven within a specified speed range. For remote cameras used in broadcasting, importance is placed on image quality, and quietness and smooth PT control are required, so a technology for speed control that avoids the specified speed range has been disclosed.

[0004] In the invention disclosed in Patent Document 1, when the speed when controlled with the specified acceleration is within a specified range, speed control is performed with an acceleration different from the specified acceleration, thereby avoiding specifying a speed within the specified range.

[0005] In the invention disclosed in Patent Document 2, when synchronously controlling the PTs, if the control speed with the smaller movement amount is within the resonance range, this is avoided by resetting the speed outside the resonance speed range. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2015-220723 A [Patent Document 2] JP 2005-020399 A Summary of the Invention [Problem to be solved by the invention]

[0007] In the invention disclosed in Patent Document 1, two accelerations are switched so that the controlled speed does not fall within a predetermined range, thereby setting a small or large speed outside the predetermined range. However, this method does not take into account the hysteresis of the speed change, so there is a problem that speed hunting occurs. In addition, there is no consideration to prevent the speed difference before and after the change from becoming too large. Therefore, when the speed control is performed as described above, there is a problem that a delay occurs because the changed speed is slower than the speed before the change, or an overshoot occurs because it is faster, causing the capture position of the tracking target to shift.

[0008] The invention disclosed in Patent Document 2 is a process premised on synchronous PT control. Automatic tracking calculates and controls the speed according to the position of the tracking target that changes from moment to moment, so synchronous PT control is not possible and therefore cannot be applied to PT control of automatic tracking. In addition, in the invention disclosed in Patent Document 2, when the controlled speed is within the resonance range, the speed is changed to a reset speed, but since the hysteresis of the speed change is not taken into consideration, there is a problem that speed hunting occurs. In the present invention, a technology is provided for reducing frequent switching of the change speed and deviation of the capture position of the tracking target when changing the attitude of the imaging device at a change speed that avoids the specified speed range. [Means for solving the problem]

[0009] One aspect of the present invention is characterized in that it comprises a resetting means for, when the speed at which the attitude of the imaging device changes across a threshold within a specified speed range, resetting the threshold within the specified speed range in a direction opposite to the direction of the change, and a changing means for, when the speed of a target to be tracked by the imaging device is equal to or greater than the threshold within the specified speed range, changing the change speed to equal to or greater than an upper limit value of the specified speed range, and, when the speed of the target to be tracked is less than the threshold within the specified speed range, changing the change speed to equal to or less than a lower limit value of the specified speed range. Effect of the Invention

[0010] According to the configuration of the present invention, when changing the attitude of the imaging device at a change speed that avoids the specified speed range, frequent switching of the change speed and deviation of the capture position of the tracking target can be reduced. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing an example of the functional configuration of an automatic photography system. [Diagram 2] 10 is a flowchart showing an example of the operation of the view angle adjustment device 1004. [Diagram 3] FIG. [Figure 4] FIG. 13 is a diagram for explaining a method for controlling setting / updating a threshold value. [Diagram 5] FIG. 13 is a diagram for explaining a method for controlling setting / updating a threshold value. [Figure 6] 13A and 13B are diagrams for explaining a case in which the speed of the angle of view control within a specified speed range is uniquely updated to the lower limit value of the specified speed range. [Figure 7] 13A and 13B are diagrams for explaining a case in which the speed of the angle of view control within a specified speed range is uniquely updated to the upper limit value of the specified speed range. [Figure 8] 10 is a diagram for explaining a speed updating method performed by a speed update unit 1014. FIG. [Figure 9] 10 is a diagram for explaining a speed updating method performed by a speed update unit 1014. FIG. [Figure 10] FIG. 2 is a block diagram showing an example of the functional configuration of an automatic photography system 2000. [Figure 11] 11 is a flowchart showing an example of the operation of the view angle adjustment device 2004. [Figure 12] 4A to 4C are diagrams for explaining a speed updating method performed by a speed updating unit 2014. [Figure 13] 4A to 4C are diagrams for explaining a speed updating method performed by a speed updating unit 2014. [Figure 14] FIG. 2 is a block diagram showing an example of the hardware configuration of a computer apparatus. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the embodiments will be described in detail with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims. Although the embodiments describe a number of features, not all of these features are essential to the invention, and the features may be combined in any manner. Furthermore, in the attached drawings, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0013] [First embodiment] An example of the functional configuration of an automatic photography system including an angle-of-view adjustment device that functions as an information processing device that adjusts the attitude of the imaging device (i.e., adjusts the angle of view of the imaging device) to track and capture a tracking target will be described with reference to the block diagram of FIG. 1.

[0014] 1, the automatic photography system 1000 includes an image capturing device 1001, an input capturing device 1002, a PTZ driving device 1003, a view angle adjustment device 1004, and a monitor device 1018. The method of connection between the devices is not limited to a specific method. For example, the three devices, the image capturing device 1001, the input capturing device 1002, and the PTZ driving device 1003, and the view angle adjustment device 1004 may be connected via a network such as the Internet or a LAN, and the view angle adjustment device 1004 may be connected to the monitor device 1018 via a video cable.

[0015] The automatic photography system 1000 performs tracking processing of the tracking target based on the captured image captured by the video capture device 1001 and the tracking setting acquired by the input capture device 1002, and controls the angle of view of the video capture device 1001 (control to change the angle of view by changing one or more of pan, tilt, and zoom of the video capture device 1001) using the PTZ drive device 1003 so that the tracking target does not move out of the angle of view. Here, when the speed at which the angle of view control is performed is within a specified speed range, the automatic photography system 1000 performs the angle of view control at a speed equal to or higher than the upper limit of the specified speed range or equal to or lower than the lower limit of the specified speed range while reducing frequent switching of the speed of the angle of view control and deviation of the capture position of the tracking target. Here, the specified speed range is the range of the change speed of the attitude of the video capture device 1001 at which vibration and sound due to resonance are generated (the range of the speed of the angle of view control at which vibration and sound due to resonance are generated). Then, the automatic photography system 1000 displays the captured image captured by performing the angle of view control on the monitor device 1018.

[0016] First, the image capturing device 1001 will be described. The image capturing device 1001 may be a moving image capturing device that captures moving images, or may be a still image capturing device that captures still images periodically or irregularly. When the image capturing device 1001 is a moving image capturing device, the image capturing device 1001 outputs images of each frame in the captured moving image to the view angle adjustment device 1004 as captured images. On the other hand, when the image capturing device 1001 is a still image capturing device, the image capturing device 1001 outputs still images (frames) captured periodically or irregularly to the view angle adjustment device 1004 as captured images.

[0017] Next, the input acquisition device 1002 will be described. The input acquisition device 1002 is a user interface such as a keyboard, a mouse, and a touch panel screen, and can input various instructions to the angle of view adjustment device 1004 by operating the input acquisition device 1002. For example, the input acquisition device 1002 has a touch panel screen that displays a GUI (Graphical User Interface) that operates on a Web browser or the like and allows operation input to the GUI. The user can input tracking settings including various settings for tracking and capturing an image of a tracking target by operating the input acquisition device 1002, and the input acquisition device 1002 outputs the input tracking settings to the angle of view adjustment device 1004. In the following, a case where the tracking target is a person will be described, but the tracking target is not limited to a person, and the following description can be similarly applied to a tracking target other than a person.

[0018] Next, the PTZ driving device 1003 will be described. The PTZ driving device 1003 has a motor for controlling the pan, tilt, and zoom of the image capturing device 1001, a circuit for driving and controlling the motor, etc. The PTZ driving device 1003 controls the pan, tilt, and zoom of the image capturing device 1001 (view angle control) at a speed according to a PTZ control command from the view angle adjustment device 1004 so that the pan angle, tilt angle, and zoom value correspond to the PTZ control command.

[0019] Next, the view angle adjustment device 1004 will be described. The view angle adjustment device 1004 is a computer device that functions as an information processing device such as a camera, a PC (personal computer), a smartphone, a tablet terminal device, etc. In this embodiment, each functional unit of the view angle adjustment device 1004 shown in FIG. 1 will be described as being implemented in hardware.

[0020] The image acquisition unit 1005 acquires the captured image output from the image acquisition device 1001 .

[0021] The face detection unit 1006 detects a person from the captured image acquired by the video acquisition unit 1005, and acquires the coordinates of the person's face in the captured image (for example, the center position of the area of ​​the face). There are various methods for detecting a person's face from a captured image, such as a template matching method and a semantic area division method, and the method is not limited to a specific method. The template matching method and the semantic area division method are well-known techniques, so detailed explanations will be omitted.

[0022] The tracking setting unit 1007 acquires the tracking setting output from the input acquisition device 1002, and sets the acquired tracking setting in the angle of view adjustment device 1004. In this embodiment, the tracking setting includes a composition setting and a tracking sensitivity setting, but may also include a setting for determining an initial angle of view for tracking.

[0023] Here, the composition setting will be explained with reference to Fig. 3. The composition setting is a setting for continuing to capture a person at a specific position within the angle of view even if the person moves within the angle of view, and for continuing to capture the person at a specific size within the angle of view even if the size of the person within the angle of view changes. In other words, the composition setting includes the "position of the person to be continuously captured within the angle of view (capture position)" and the "size of the person to be continuously captured within the angle of view (capture size)".

[0024] Fig. 3(a) shows an example of a composition setting indicating a composition in which a face position P001 of the person P002 is located near the center position of the angle of view range D001 so that the upper body of the person P002 fits within the angle of view range D001. The angle of view adjustment device 1004 in which the composition setting indicating the composition shown in Fig. 3(a) is set tracks and captures the person in the composition shown in Fig. 3(a).

[0025] Fig. 3(b) shows an example of a composition setting indicating a composition in which a face position P003 of the person P004 is located near the upper right of the angle of view range D002 so that the entire body of the person P004 fits within the angle of view range D002. The angle-of-view adjustment device 1004 in which the composition setting indicating the composition shown in Fig. 3(b) is set tracks and captures the person in the composition shown in Fig. 3(b).

[0026] Next, the tracking sensitivity setting will be described. The tracking sensitivity setting is setting information that indicates the agility of capturing a person in a composition indicated by the composition setting. Such setting information can be various information, and may be, for example, a plurality of step values ​​(the larger the step value, the more agility it indicates). In this embodiment, the tracking sensitivity setting is the time required for the angle of view control to capture a person in a composition indicated by the composition setting.

[0027] The recording unit 1008 stores the tracking settings acquired by the tracking setting unit 1007 in a memory in the angle of view adjustment device 1004 .

[0028] The tracking processing unit 1009 performs a person tracking process. If a person tracking process has not been performed previously, the tracking processing unit 1009 selects a person as a tracking target and starts a tracking process for the person, and if a tracking process has been performed previously, the tracking processing unit 1009 performs a tracking process for the person using the coordinates of the person's face acquired by the face detection unit 1006.

[0029] The method of selecting a person as a tracking target is not limited to a specific method as long as the method can select the face of the person to be tracked from one or more detected faces. For example, the tracking processing unit 1009 may select the face located at the coordinates closest to the center position of the captured image.

[0030] The tracking process is a process of identifying the "coordinates of the face of the person to be tracked" in the captured image of the current frame by using the "coordinates of the face of the person to be tracked" in the captured image of the past frame and the "coordinates of the face of the person acquired by the face detection unit 1006" in the captured image of the current frame. Various processes can be applied to this process. For example, the tracking processing unit 1009 predicts the "coordinates of the face of the person to be tracked in the captured image of the current frame" from the past movement history of the person to be tracked (the coordinates of the face of the person to be tracked in the captured image of each past frame). Then, the tracking processing unit 1009 identifies the coordinates of the face of the person in the captured image of the current frame that are closest to the predicted coordinates as the "coordinates of the face of the person to be tracked" in the captured image of the current frame.

[0031] The calculation unit 1010 calculates the amount of PTZ change (amount of angle of view control) and the speed of the change (speed of angle of view control) to enable angle of view control such that the "person to be tracked" is within the angle of view at the capture size indicated by the composition setting and the "coordinates of the face of the person to be tracked" are located at the capture position indicated by the composition setting. Here, the "amount of PTZ change (amount of angle of view control)" includes the direction of PTZ change (angle of view control) and its magnitude.

[0032] The speed of the angle of view control may be expressed in any unit, but in this embodiment, it is [deg / s], which is the angle by which the lens barrel of the image capture device 1001 is moved per unit time. The calculation unit 1010 calculates the amount of angle of view control such that the size of the person to be tracked in the captured image of the current frame and the coordinates of the face of the person become the capture size and capture position indicated by the composition setting, respectively. The calculation unit 1010 also calculates the value (speed) obtained by dividing the amount of the angle of view control by the time indicated by the tracking sensitivity setting as the speed of the angle of view control. Note that the method for calculating the speed and amount of the angle of view control is not limited to a specific method.

[0033] The calculation unit 1010 also calculates the moving speed [deg / s] of the person to be tracked in the captured image of the current frame. Various methods can be applied to the method of calculating the speed of the person to be tracked in the captured image of the current frame, and the method is not limited to a specific method.

[0034] The model discrimination unit 1011 acquires the specified speed range based on the model information acquired from the image acquisition device 1001. There are various possible methods for acquiring the specified speed range based on the model information acquired from the image acquisition device 1001, and the method is not limited to a specific method.

[0035] For example, if the model information of the video capture device 1001 includes a specified speed range, the model discrimination unit 1011 may obtain the specified speed range included in the model information from the model information acquired from the video capture device 1001.

[0036] Also, for example, if the angle of view adjustment device 1004 stores in memory specified speed ranges corresponding to various model information, the model discrimination unit 1011 may obtain from the memory the specified speed range corresponding to the model information obtained from the image acquisition device 1001.

[0037] The number of specified speed ranges acquired based on the model information is not limited to one, and may be multiple.

[0038] The necessity determination unit 1012 determines whether or not the speed should be updated, using the speed of the angle of view control calculated by the calculation unit 1010 and the specified speed range acquired by the model discrimination unit 1011. Various methods are possible for such a determination method, and the method is not limited to a specific method.

[0039] For example, the necessity determination unit 1012 may determine that the speed of the angle of view control should be updated if the speed is within a specified speed range, and may determine that the speed should not be updated if the speed of the angle of view control is outside the specified speed range.

[0040] For example, the necessity determination unit 1012 may determine the extended specified speed range as a range obtained by extending the specified speed range by a specified amount. The necessity determination unit 1012 may determine that the speed of the angle of view control should be updated if the speed of the angle of view control is within the extended specified speed range, and may determine that the speed should not be updated if the speed of the angle of view control is outside the extended specified speed range.

[0041] Furthermore, when there are multiple specified speed ranges, the necessity determination unit 1012 performs the same process for each specified speed range. The specified speed range may be the same for all pan, tilt, and zoom, or may be set independently for each of pan, tilt, and zoom. The same specified speed range may be set for two of the pan, tilt, and zoom.

[0042] If the model discrimination unit 1011 cannot acquire the specified speed range, the necessity determination unit 1012 does not perform the above-mentioned determination process and determines that the speed of the angle of view control should not be updated.

[0043] When the necessity determination unit 1012 determines that the speed of the angle of view control should be updated, the threshold update unit 1013 controls the setting / updating of a threshold set as a determination criterion for updating the speed of the angle of view control. The control method for setting / updating the threshold will be described with reference to Figs. 4 and 5.

[0044] 4 and 5, the horizontal axis represents the speed [deg / s] of the angle of view control, and shows a case in which there are two specified speed ranges. The lower limit of one specified speed range (first specified speed range) is P1 min , the upper limit is P1 max The lower limit of the other specified speed range (second specified speed range) is P2 min , the upper limit is P2 max It is as follows.

[0045] FIG. 4A shows that the speed P102 of the angle of view control calculated by the calculation unit 1010 this time is lower than the upper limit P1 max Greater than the lower limit P2 min This shows a case where the speed has accelerated from the "previous speed P101 of the angle of view control" which is smaller than the threshold value P2ts to within the second specified speed range. In such a case, the threshold update unit 1013 sets P2tl as the threshold value out of P2ts, which is a value smaller than the center of the second specified speed range, and P2tl (>P2ts), which is a value larger than the center of the second specified speed range.

[0046] 4B shows a case where the speed P103 of the angle of view control calculated this time by the calculation unit 1010 accelerates from the "previous speed P102 of the angle of view control" which is a speed within the second specified speed range, and becomes a speed within the second specified speed range without crossing the threshold value (=P2tl). In such a case, the threshold value update unit 1013 does not update the threshold value (=P2tl).

[0047] 4(c) shows a case where the speed P104 of the angle of view control calculated this time by the calculation unit 1010 is decelerated from the "previous speed P103 of the angle of view control" which is a speed within the second specified speed range, and falls within the second specified speed range without crossing the threshold value (=P2tl). In such a case, the threshold value update unit 1013 does not update the threshold value (=P2tl).

[0048] In other words, if there is no change in the "relationship between the previous speed of the angle of view control and the threshold value" and the "relationship between the speed of the angle of view control currently calculated by the calculation unit 1010 and the threshold value" within the same specified speed range, the threshold update unit 1013 does not update the threshold value.

[0049] 4(d) shows a case where the speed P105 of the angle of view control calculated this time by the calculation unit 1010 accelerates from the "previous speed P103 of the angle of view control" which is a speed within the second specified speed range, crosses the threshold value (=P2tl), and becomes a speed within the second specified speed range. In such a case, the threshold value update unit 1013 updates the threshold value (=P2tl) to P2ts.

[0050] In other words, the threshold update unit 1013 updates the threshold when the "relationship between the previous speed of the angle of view control and the threshold" and the "relationship between the speed of the angle of view control currently calculated by the calculation unit 1010 and the threshold" change within the same specified speed range.

[0051] FIG. 5A shows that the speed P202 of the angle of view control calculated by the calculation unit 1010 this time is the upper limit value P2 max In this case, the speed is decelerated from the "previous speed P201 of the angle of view control" which is larger than the threshold value P2ts, and becomes within the second specified speed range. In this case, the threshold value update unit 1013 sets P2ts as the threshold value out of P2ts and P2tl.

[0052] 5B shows a case where the speed P203 of the angle of view control calculated this time by the calculation unit 1010 is decelerated from the "previous speed P202 of the angle of view control" which is a speed within the second specified speed range, and falls within the second specified speed range without crossing the threshold value (=P2ts). In such a case, the threshold value update unit 1013 does not update the threshold value (=P2ts).

[0053] 5(c) shows a case where the speed P204 of the angle of view control calculated this time by the calculation unit 1010 accelerates from the "previous speed P203 of the angle of view control" which is a speed within the second specified speed range, and becomes a speed within the second specified speed range without crossing the threshold value (=P2ts). In such a case, the threshold value update unit 1013 does not update the threshold value (=P2ts).

[0054] In other words, even in the case shown in FIG. 5, if there is no change in the "size relationship between the previous speed of the angle of view control and the threshold value" and the "size relationship between the speed of the angle of view control currently calculated by the calculation unit 1010 and the threshold value" within the same specified speed range, the threshold update unit 1013 does not update the threshold value, as in the case shown in FIG. 4.

[0055] 5(d) shows a case where the speed P205 of the angle of view control calculated this time by the calculation unit 1010 is decelerated from the "previous speed P203 of the angle of view control" which is a speed within the second specified speed range, crosses the threshold value (=P2ts), and becomes a speed within the second specified speed range. In such a case, the threshold value update unit 1013 updates the threshold value (=P2ts) to P2tl.

[0056] In other words, even in the case shown in Figure 5, if the "relationship between the previous speed of angle of view control and the threshold value" and the "relationship between the speed of angle of view control currently calculated by the calculation unit 1010 and the threshold value" change within the same specified speed range, the threshold update unit 1013 updates the threshold value as in the case shown in Figure 4.

[0057] That is, when the speed of the angle of view control changes across the threshold within a specified speed range, the threshold update unit 1013 resets (updates) the threshold within the specified speed range in the direction opposite to the direction of the change.

[0058] The above explanation has been given for cases where the speed of the angle of view control changes from a speed outside the second specified speed range to a speed within the second specified speed range, and cases where the speed changes within the second specified speed range, but a similar explanation can be applied to cases where other specified speed ranges are targeted.

[0059] The speed update unit 1014 updates the speed of the angle of view control calculated by the calculation unit 1010 using a threshold value and the specified speed range acquired by the model discrimination unit 1011. Here, in a method in which the speed of the angle of view control within the specified speed range is uniquely updated to the lower limit value of the specified speed range as shown in FIG. 6(a) or uniquely updated to the upper limit value of the specified speed range as shown in FIG. 7(a), the difference between the speed of the person to be tracked and the speed after the update of the angle of view control becomes large. Therefore, the deviation between the capture position specified in the composition setting and the actual position of the tracked target becomes large. In FIG. 6(a) and FIG. 7(a), the horizontal axis represents the speed [deg / s] of the person to be tracked, and the vertical axis represents the speed [deg / s] after the update of the angle of view control.

[0060] In Fig. 6(a), if the speed of the person to be tracked is within a specified speed range, the speed of the angle of view control is uniquely updated to the lower limit of the specified speed range. When such a speed update is performed, as shown in Fig. 6(b), when the person to be tracked P302 moves from right to left as indicated by the arrow, the speed of the angle of view control becomes slower than the speed of the movement. Therefore, the person P302 shifts to the left from the person P002 in the angle of view range D001 of the composition illustrated in Fig. 3(a).

[0061] In Fig. 7(a), if the speed of the person to be tracked is within a specified speed range, the speed of the angle of view control is uniquely updated to the upper limit value of the specified speed range. When such a speed update is performed, as shown in Fig. 7(b), when the person to be tracked P402 moves from right to left as indicated by the arrow, the speed of the angle of view control becomes faster than the speed of the movement. Therefore, the person P402 shifts to the right from the person P002 in the angle of view range D001 of the composition illustrated in Fig. 3(a).

[0062] In order to reduce such positional deviation from the composition, the present embodiment uses the threshold value set / updated as described above. That is, in the present embodiment, if the speed of the person to be tracked is equal to or greater than the threshold value within the specified speed range, the speed of the angle of view control is changed to equal to or greater than the upper limit of the specified speed range, and if the speed of the person to be tracked is less than the threshold value within the specified speed range, the speed of the angle of view control is changed to equal to or less than the lower limit of the specified speed range. As described above, when the speed of the angle of view control changes across the threshold value within the specified speed range, the threshold value is reset within the specified speed range in the opposite direction to the direction of the change. Therefore, even if the speed of the angle of view control calculated by the calculation unit 1010 goes back and forth between values ​​before and after either threshold value, the speed of the angle of view control is not frequently updated.

[0063] A method of updating the speed by the speed update unit 1014 will be described with reference to Fig. 8 and Fig. 9. In Fig. 8 and Fig. 9, the horizontal axis represents the speed [deg / s] of the person to be tracked, and the vertical axis represents the speed [deg / s] after updating the angle of view control.

[0064] 8 shows a case where a value larger than the center of the specified speed range is set as the threshold value. In FIG. 8, if the speed of the person to be tracked is equal to or greater than the threshold value within the first specified speed range P1tl, the speed of the angle of view control is set to the upper limit value P1 max In FIG. 8, if the speed of the person to be tracked is within the first specified speed range P1tl and is less than the threshold, the speed of the angle of view control is changed to the lower limit P1 min In addition, if the speed of the person to be tracked is equal to or greater than the threshold within the second specified speed range P2tl, the speed of the angle of view control is changed to the upper limit P2 max In addition, if the speed of the person to be tracked is within the second specified speed range P2tl and is less than the threshold, the speed of the angle of view control is changed to the lower limit P2 min has been changed to.

[0065] Fig. 9 shows a case where a value smaller than the center of the specified speed range is set as the threshold value. In the case shown in Fig. 9, the method of changing the speed of the angle of view control is the same as in the case shown in Fig. 8.

[0066] The history storage unit 1015 registers the results of processing by the various functional units as history information in the memory of the angle-of-view adjustment device 1004. The history information may include the previous speed of the angle-of-view control, the "coordinates of the face of the person to be tracked" in the captured image of the past frame, the pan / tilt / zoom of the image capture device 1001 when capturing the captured image of the previous frame, the past movement history of the person to be tracked, etc. Such history information may be used appropriately in the various functional units.

[0067] The angle of view operation unit 1016 generates a PTZ control command including the speed of the angle of view control calculated by the calculation unit 1010 or changed by the speed update unit 1014, and the amount of the angle of view control calculated by the calculation unit 1010. Then, the angle of view operation unit 1016 outputs the generated PTZ control command to the PTZ driving device 1003.

[0068] As a result, the PTZ driving device 1003 controls the pan, tilt, and zoom of the image capturing device 1001 (angle of view control) at the angle of view control speed determined by the calculation unit 1010 or changed by the speed update unit 1014, so that the pan angle, tilt angle, and zoom value correspond to the amount of angle of view control determined by the calculation unit 1010.

[0069] The video output unit 1017 outputs the captured image acquired by the video acquisition unit 1005 to the monitor device 1018. The monitor device 1018 is a display device having a liquid crystal screen or a touch panel screen, and displays the captured image output from the video output unit 1017. The control unit 99 controls the operation of the entire view angle adjustment device 1004.

[0070] Next, an example of the operation of the view angle adjustment device 1004 having the configuration shown in Fig. 1 will be described with reference to the flowchart in Fig. 2. The process according to the flowchart in Fig. 1 starts when the view angle adjustment device 1004 is started by a user operation on the automatic photography system 1000.

[0071] In step S1, the model discrimination unit 1011 acquires model information from the image capture device 1001. Then, in step S2, the model discrimination unit 1011 performs model discrimination based on the acquired model information, and acquires a specified speed range corresponding to the model of the image capture device 1001.

[0072] In step S3, the image acquisition unit 1005 acquires the captured image output from the image acquisition device 1001. In step S4, the tracking setting unit 1007 acquires the tracking setting output from the input acquisition device 1002, and sets the acquired tracking setting in the view angle adjustment device 1004. Then, the recording unit 1008 stores the tracking setting acquired by the tracking setting unit 1007 in a memory in the view angle adjustment device 1004.

[0073] In step S5, the face detection unit 1006 detects a person from the captured image acquired by the video acquisition unit 1005 in step S3, and acquires the coordinates of the face of the person in the captured image.

[0074] In step S6, the tracking processing unit 1009 performs a person tracking process. Then, in step S7, the tracking processing unit 1009 judges whether the person tracking process has been successful. If the result of this judgment is that the person tracking process has been successful, the process proceeds to step S8, and if the person tracking process has not been successful, the process proceeds to step S26.

[0075] In step S8, the calculation unit 1010 calculates the amount and speed of the angle of view control based on the tracking setting, and also calculates the moving speed of the person to be tracked in the captured image of the current frame.

[0076] In step S9, history information holding unit 1015 stores the amount of angle of view control and the speed of the angle of view control calculated by calculation unit 1010 in step S8 in memory as history information. In step S10, necessity determination unit 1012 judges whether acquisition of the specified speed range was successful in step S2 above. If the result of this judgment is that acquisition of the specified speed range was successful (the specified speed range exists in the operating model), the process proceeds to step S11. On the other hand, if acquisition of the specified speed range failed (the specified speed range does not exist in the operating model), necessity determination unit 1012 outputs the "amount of angle of view control and the speed of the angle of view control" stored in memory as history information in step S9 to angle of view operation unit 1016. Then, the process proceeds to step S25.

[0077] In step S11, the necessity determination unit 1012 determines whether or not the speed of the angle of view control calculated by the calculation unit 1010 is within the specified speed range acquired by the model discrimination unit 1011. If the result of this determination is that the speed of the angle of view control calculated by the calculation unit 1010 is within the specified speed range acquired by the model discrimination unit 1011, the process proceeds to step S12. On the other hand, if the speed of the angle of view control calculated by the calculation unit 1010 is outside the specified speed range acquired by the model discrimination unit 1011, the process proceeds to step S13.

[0078] In step S12, the threshold update unit 1013 judges whether the speed of the previous angle of view control was within the same specified speed range as the speed of the current angle of view control. If the result of this judgment is that the speed of the previous angle of view control was within the same specified speed range as the speed of the current angle of view control, the process proceeds to step S17. On the other hand, if the speed of the previous angle of view control was not within the same specified speed range as the speed of the current angle of view control, the process proceeds to step S14.

[0079] In step S14, the threshold update unit 1013 determines whether the speed of the current angle of view control is higher than the speed of the previous angle of view control. If the speed of the current angle of view control is higher than the speed of the previous angle of view control as a result of this determination, the process proceeds to step S15, and if the speed of the current angle of view control is lower than the speed of the previous angle of view control, the process proceeds to step S16.

[0080] In step S15, the threshold update unit 1013 sets a threshold value that is greater than the center of the specified speed range to which the speed of the current angle of view control belongs, within the specified speed range. In step S16, the threshold update unit 1013 sets a threshold value that is smaller than the center of the specified speed range to which the speed of the current angle of view control belongs, within the specified speed range to which the speed of the current angle of view control belongs.

[0081] In step S17, the threshold update unit 1013 compares the current speed of the angle of view control with the threshold. In step S18, the threshold update unit 1013 determines whether the condition that "there is no previous result of the comparison of the speed of the angle of view control with the threshold (size comparison result) or the previous size comparison result and the current size comparison result are the same" is satisfied. If the result of this determination indicates that this condition is satisfied, the process proceeds to step S22. On the other hand, if the condition is not satisfied, the process proceeds to step S19.

[0082] In step S19, the threshold update unit 1013 determines whether the result of the magnitude comparison in step S17 is "the speed of the current view angle control is greater than the threshold" or "the speed of the current view angle control is smaller than the threshold."

[0083] If the result of this determination is that the comparison result in step S17 is that "the speed of the current angle of view control is greater than the threshold value", the process proceeds to step S20. On the other hand, if the comparison result is that "the speed of the current angle of view control is smaller than the threshold value", the process proceeds to step S21.

[0084] In step S20, the threshold update unit 1013 updates the threshold to "a value smaller than the center of the specified speed range to which the speed of the current angle of view control belongs" and in step S21, the threshold update unit 1013 updates the threshold to "a value larger than the center of the specified speed range to which the speed of the current angle of view control belongs".

[0085] In step S22, the speed update unit 1014 updates the speed of the angle of view control calculated by the calculation unit 1010. That is, when the speed of the angle of view control calculated by the calculation unit 1010 is smaller than the threshold, the speed update unit 1014 updates the speed to be equal to or lower than the lower limit of the specified speed range to which the speed belongs. On the other hand, when the speed of the angle of view control calculated by the calculation unit 1010 is larger than the threshold, the speed update unit 1014 updates the speed to be equal to or higher than the upper limit of the specified speed range to which the speed belongs.

[0086] In step S24, the history information holding unit 1015 stores the magnitude comparison result in step S17 and the determination result in step S11 as history information in the memory of the angle of view adjustment device 1004. On the other hand, in step S13, the history information holding unit 1015 deletes the "size comparison result" which is the history information stored in the memory.

[0087] In step S25, the angle of view operation unit 1016 generates a PTZ control command including the speed of the angle of view control calculated by the calculation unit 1010 or changed by the speed update unit 1014, and the amount of the angle of view control calculated by the calculation unit 1010. Then, the angle of view operation unit 1016 outputs the generated PTZ control command to the PTZ driving device 1003.

[0088] In step S26, the video output unit 1017 outputs the captured image acquired by the video acquisition unit 1005 in step S3 to the monitor device 1018. In step S27, the control unit 99 determines whether or not a termination condition for the process (automatic photography process) according to the flowchart in Fig. 2 has been satisfied. For example, when the control unit 99 detects that the user has operated a switch for switching the power on / off of the automatic photography system 1000 to turn the power off, the control unit 99 determines that the termination condition has been satisfied.

[0089] If the end condition is satisfied as a result of such determination, the process according to the flowchart in Fig. 2 ends. On the other hand, if the end condition is not satisfied, the process proceeds to step S3.

[0090] In this manner, in this embodiment, when performing PTZ control at a speed that avoids the specified speed range, the speed is updated according to the result of comparing the calculated speed of the angle of view control with a threshold value set based on the transition history of the speed of the angle of view control. This makes it possible to reduce the occurrence of vibrations during the operation of the image capture device 1001 while reducing frequent speed switching and deviations in the capture position of the tracking target.

[0091] [Second embodiment] In the following embodiments and modifications including this embodiment, differences from the first embodiment will be described, and unless otherwise specified below, they are assumed to be the same as the first embodiment. An example of the functional configuration of an automatic photography system 2000 according to this embodiment will be described using the block diagram of Fig. 10. As shown in Fig. 10, the automatic photography system 2000 has a configuration in which the angle-of-view adjustment device 1004 in Fig. 1 is replaced with an angle-of-view adjustment device 2004. In this embodiment, the functional units of the angle-of-view adjustment device 2004 shown in Fig. 10 will be described as being implemented in hardware.

[0092] The change unit 1019 changes the width of the specified speed range according to the tracking sensitivity setting included in the tracking setting. If the specified speed range is widened in consideration of individual differences due to the model, the difference between the speed of the person and the speed after the angle of view control is changed becomes large, so the deviation between the capture position specified in the composition setting and the actual position of the tracking target becomes large. In this case, there is a risk that a part of the tracking target will be cut off from the angle of view. If the moving speed of the tracking target is high, the risk of this cutting off increases, so the width of the specified speed range is changed according to the tracking sensitivity setting that represents the agility of capturing the target in the set composition. Note that the width may also be changed according to the speed of the specified speed range, or the width of the specified speed range may be changed by combining these. For example, when there are multiple specified speed ranges, a control such as narrowing only the width of the largest specified speed range with the largest tracking sensitivity setting is conceivable.

[0093] The speed update unit 2014 updates the speed of the angle of view control in the same manner as the speed update unit 1014 described above. However, it differs from the first embodiment in that the width of the specified speed range is controlled in accordance with the tracking sensitivity setting, and therefore the upper and lower limit values ​​are values ​​controlled in accordance with the tracking sensitivity setting.

[0094] The speed update method by the speed update unit 2014 will be described with reference to Fig. 12 and Fig. 13. In Fig. 12 and Fig. 13, the horizontal axis represents the speed [deg / s] of the person to be tracked, and the vertical axis represents the speed [deg / s] after the angle of view control is updated, and a case is shown in which two specified speed ranges exist. The lower limit of one specified speed range (first specified speed range) is P1 min n, the upper limit is P1 max n, and the lower limit of the other specified speed range (second specified speed range) is P2 min n, the upper limit is P2 max n. P1 min n, P1 max n, P2 min n, P2 max The values ​​of n are controlled according to the tracking sensitivity settings. Therefore, the threshold value P1 tl n, P2 tln is also controlled according to the tracking sensitivity setting.

[0095] Fig. 12 shows a case where the threshold value is set to a value greater than the center of the specified speed range, while Fig. 13 shows a case where the threshold value is set to a value smaller than the center of the specified speed range.

[0096] Next, an example of the operation of the angle-of-view adjustment device 2004 having the configuration shown in Fig. 10 will be described with reference to the flowchart in Fig. 11. The process according to the flowchart in Fig. 1 starts when the angle-of-view adjustment device 1004 is started by a user operation on the automatic photography system 1000. In Fig. 10, the same step numbers are used for the same processing steps as those shown in Fig. 2, and the description of these processing steps will be omitted. In step S110, the change unit 1019 changes the width of the specified speed range according to the tracking sensitivity setting included in the tracking setting.

[0097] <Modification> It is also possible to perform control such that the speed of the angle of view control is not changed until the number of consecutive changes in the magnitude relationship between the speed of the tracking target and the threshold within a specified speed range reaches a specified number, and once the number of consecutive changes reaches the specified number, changes in the speed of the angle of view control are permitted thereafter. This makes it possible to suppress frequent speed changes.

[0098] In addition, when the speed transitions from outside to inside the specified speed range, if the speed is accelerating, a threshold value smaller than the center of the specified speed range may be set, and if the speed is decelerating, a threshold value larger than the center of the specified speed range may be set.

[0099] In the second embodiment, the width of the specified speed range may be changed according to the "capture position of the tracking target within the angle of view" that is specified by the composition setting. For example, the closer the capture position is to the center position of the angle of view, the narrower the specified speed range may be.

[0100] [Third embodiment] In the first embodiment, the functional units of the view angle adjustment device 1004 shown in FIG. 1 are described as being implemented in hardware, and in the second embodiment, the functional units of the view angle adjustment device 2004 shown in FIG. 10 are described as being implemented in hardware. However, the functional units shown in FIG. 1 and FIG. 10 may be implemented in software (computer program). In this case, a computer device capable of executing this computer program is applicable to the view angle adjustment device 1004 and the view angle adjustment device 2004. An example of the hardware configuration of such a computer device will be described with reference to the block diagram of FIG. 14.

[0101] The CPU 1401 executes various processes using computer programs and data stored in the RAM 1402. As a result, the CPU 1401 controls the operation of the entire computer device, and executes or controls various processes described as the processes performed by the view angle adjustment device 1004 and the view angle adjustment device 2004.

[0102] The RAM 1402 has an area for storing computer programs and data loaded from the ROM 1403 or the storage device 1404, and an area for storing data received from the outside via the I / F 1405. The RAM 1402 further has a work area used when the CPU 1401 executes various processes. In this way, the RAM 1402 can provide various areas as needed.

[0103] The ROM 1403 stores setting data for the computer device, computer programs and data related to the startup of the computer device, computer programs and data related to the basic operation of the computer device, and the like.

[0104] The storage device 1404 is a large-capacity non-volatile memory device such as a hard disk drive device or an EEPROM. The storage device 1404 stores an OS (operating system), computer programs and data for causing the CPU 1401 to execute or control various processes described as processes performed by the view angle adjustment device 1004 and the view angle adjustment device 2004, and the like. The computer programs stored in the storage device 1404 include computer programs for causing the CPU 1401 to execute or control functions of the functional units of the view angle adjustment device 1004 / view angle adjustment device 2004 shown in FIG. 1 and FIG. 10. The data stored in the storage device 1404 also includes various data described as known information. The computer programs and data stored in the storage device 1404 are loaded into the RAM 1402 as appropriate under the control of the CPU 1401, and are processed by the CPU 1401.

[0105] The I / F 1405 functions as an interface for performing data communication with an external device. For example, the above-mentioned image acquisition device 1001, input acquisition device 1002, PTZ driving device 1003, monitor device 1018, etc. can be connected to the I / F 1405.

[0106] The CPU 1401, the RAM 1402, the ROM 1403, the storage device 1404, and the I / F 1405 are all connected to a system bus 1406. Note that the hardware configuration shown in Fig. 14 is merely an example of a hardware configuration of a computer device applicable to the view angle adjustment device 1004 and the view angle adjustment device 2004, and can be modified / changed as appropriate.

[0107] The numerical values, processing timing, processing order, processing subject, data (information) acquisition method / destination / source / storage location, etc. used in each of the above embodiments are given as examples to provide a concrete explanation, and are not intended to be limited to these examples.

[0108] In addition, a part or all of the embodiments described above may be used in appropriate combination. In addition, a part or all of the embodiments described above may be used selectively.

[0109] (Other embodiments) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0110] The invention of this specification includes the following information processing device, information processing method, and computer program. (Item 1) a resetting means for resetting the threshold value within a specified speed range in a direction opposite to the direction of the change of the speed of the change of the attitude of the image capturing device, when the speed of the change of the attitude of the image capturing device crosses the threshold value within the specified speed range; a change means for changing the change speed to an upper limit value or more of the specified speed range if the speed of the tracking target of the imaging device is equal to or greater than the threshold value within the specified speed range, and for changing the change speed to a lower limit value or less of the specified speed range if the speed of the tracking target is less than the threshold value within the specified speed range; An information processing device comprising: (Item 2) The information processing device according to item 1, wherein the resetting means determines whether the speed at which the attitude of the imaging device changes has crossed a threshold within a specified speed range based on a history of the speed at which the attitude of the imaging device changes. (Item 3) moreover, 3. The information processing device according to item 1 or 2, further comprising a means for acquiring tracking settings including a size and a position for capturing a tracking target within an angle of view of the imaging device. (Item 4) moreover, 4. The information processing device according to item 3, further comprising a calculation means for calculating a change speed of the attitude of the imaging device according to the tracking setting. (Item 5) The information processing device according to any one of items 1 to 4, characterized in that the resetting means sets the threshold value to a value greater than the center of the specified speed range when the changed speed accelerates from a speed outside the specified speed range to a speed within the specified speed range. (Item 6) The information processing device according to any one of items 1 to 5, characterized in that the resetting means does not update the threshold value when the change speed accelerates from a speed within the specified speed range to a speed within the specified speed range without crossing the threshold value. (Item 7) The information processing device according to any one of items 1 to 6, characterized in that the resetting means does not update the threshold value when the changed speed is decelerated from a speed within the specified speed range to a speed within the specified speed range without crossing the threshold value. (Item 8) The information processing device according to any one of items 1 to 7, characterized in that, when the change speed accelerates from a speed within the specified speed range to a speed within the specified speed range across the threshold, the resetting means resets the threshold to a value smaller than the center of the specified speed range. (Item 9) The information processing device according to any one of items 1 to 8, characterized in that, when the change speed is decelerated from a speed outside the specified speed range to a speed within the specified speed range, the resetting means sets the threshold value to a value smaller than the center of the specified speed range. (Item 10) The information processing device according to any one of items 1 to 9, characterized in that, when the changed speed decelerates from a speed within the specified speed range to a speed within the specified speed range across the threshold, the resetting means resets the threshold to a value greater than the center of the specified speed range. (Item 11) moreover, 11. The information processing device according to any one of items 1 to 10, further comprising: a means for acquiring a specified speed range based on information acquired from the imaging device. (Item 12) moreover, 12. The information processing device according to any one of items 1 to 11, further comprising a means for controlling the width of the specified speed range based on information representing agility in capturing a tracking target in a composition. (Item 13) moreover, 12. The information processing device according to any one of items 1 to 11, further comprising a means for controlling the width of the specified speed range based on a position set as a position within an angle of view for capturing a tracking target. (Item 14) The information processing device according to any one of items 1 to 13, characterized in that the change means does not change the change speed until the number of times that the magnitude relationship between the speed of the tracking target and the threshold value has continuously changed within the specified speed range reaches a specified number, and allows the change of the change speed when the number of times reaches the specified number. (Item 15) 15. The information processing device according to any one of items 1 to 14, wherein the specified speed range is a range of speeds at which the attitude of the imaging device is changed so as to cause vibration and sound due to resonance. (Item 16) An information processing method performed by an information processing device, a resetting step of resetting the threshold value within a specified speed range in a direction opposite to the direction of the change in the speed of the change in the attitude of the imaging device by the resetting means of the information processing device when the speed of the change in the attitude of the imaging device changes across the threshold value within the specified speed range; a changing step in which, when the speed of the tracking target of the imaging device is within the specified speed range and is equal to or greater than the threshold value, the change speed is changed to equal to or greater than an upper limit value of the specified speed range, and when the speed of the tracking target is within the specified speed range and is less than the threshold value, the change speed is changed to equal to or less than a lower limit value of the specified speed range; An information processing method comprising: (Item 17) A computer program for causing a computer to function as each of the means of the information processing device according to any one of items 1 to 15.

[0111] The invention is not limited to the above-described embodiments, and various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0112] 1000: Automatic photography system 1001: Image acquisition device 1002: Input acquisition device 1003: PTZ driving device 1004: View angle adjustment device 1005: Image acquisition section 1006: Face detection section 1007: Tracking setting section 1008: Recording section 1009: Tracking processing section 1010: Calculation section 1011: Model discrimination section 1012: Necessity determination section 1013: Threshold update section 1014: Speed ​​update section 1015: History information storage section 1016: View angle operation section 1017: Image output section 1018: Monitor device

Claims

1. a resetting means for resetting the threshold value within a specified speed range in a direction opposite to the direction of the change of the speed of the change of the attitude of the image capturing device, when the speed of the change of the attitude of the image capturing device crosses the threshold value within the specified speed range; a change means for changing the change speed to an upper limit value or more of the specified speed range if the speed of the tracking target of the imaging device is equal to or greater than the threshold value within the specified speed range, and for changing the change speed to a lower limit value or less of the specified speed range if the speed of the tracking target is less than the threshold value within the specified speed range; An information processing device comprising:

2. The information processing apparatus according to claim 1 , wherein the resetting unit determines whether or not the speed at which the attitude of the image capturing device changes has crossed a threshold within a specified speed range, based on a history of the speed at which the attitude of the image capturing device has changed.

3. moreover, The information processing apparatus according to claim 1 , further comprising: a means for acquiring a tracking setting including a size and a position for capturing a tracking target within an angle of view of the imaging device.

4. moreover, The information processing apparatus according to claim 3 , further comprising a calculation unit for calculating a speed at which the attitude of the image capturing apparatus is changed in accordance with the tracking setting.

5. 2. The information processing apparatus according to claim 1, wherein the resetting means sets the threshold value to a value greater than the center of the specified speed range when the changed speed is accelerated from a speed outside the specified speed range to a speed within the specified speed range.

6. 2 . The information processing apparatus according to claim 1 , wherein the resetting means does not update the threshold value when the changed speed is accelerated from a speed within the specified speed range to a speed within the specified speed range without crossing the threshold value.

7. 2 . The information processing apparatus according to claim 1 , wherein the resetting means does not update the threshold value when the changed speed is decelerated from a speed within the specified speed range to a speed within the specified speed range without crossing the threshold value.

8. 2. The information processing device according to claim 1, wherein the resetting means resets the threshold to a value smaller than the center of the specified speed range when the changed speed accelerates from a speed within the specified speed range to a speed within the specified speed range across the threshold.

9. 2. The information processing apparatus according to claim 1, wherein the resetting means sets the threshold value to a value smaller than the center of the specified speed range when the changed speed is decelerated from a speed outside the specified speed range to a speed within the specified speed range.

10. 2. The information processing device according to claim 1, wherein the resetting means resets the threshold to a value greater than the center of the specified speed range when the changed speed decelerates from a speed within the specified speed range to a speed within the specified speed range across the threshold.

11. moreover, The information processing apparatus according to claim 1 , further comprising: a means for acquiring a specified speed range based on information acquired from the imaging device.

12. moreover, 2. The information processing apparatus according to claim 1, further comprising a means for controlling the width of the specified speed range based on information representing agility at which a tracking target is captured in a shot.

13. moreover, 2 . The information processing apparatus according to claim 1 , further comprising: a means for controlling the width of the specified speed range based on a position set as a position within an angle of view for capturing a tracking target.

14. The information processing device according to claim 1, characterized in that the change means does not change the change speed until the number of consecutive changes in the magnitude relationship between the speed of the tracking target and the threshold within the specified speed range reaches a specified number, and allows the change of the change speed when the number of consecutive changes reaches the specified number.

15. 2. The information processing apparatus according to claim 1, wherein the specified speed range is a range of speeds at which the attitude of the imaging device is changed, which generates vibrations and sounds due to resonance.

16. An information processing method performed by an information processing device, a resetting step of resetting the threshold value within a specified speed range in a direction opposite to the direction of the change in the speed of the change in the attitude of the imaging device by the resetting means of the information processing device when the speed of the change in the attitude of the imaging device crosses a threshold value within the specified speed range; a changing step in which, when the speed of the tracking target of the imaging device is within the specified speed range and is equal to or greater than the threshold value, the change speed is changed to equal to or greater than an upper limit value of the specified speed range, and when the speed of the tracking target is within the specified speed range and is less than the threshold value, the change speed is changed to equal to or less than a lower limit value of the specified speed range; An information processing method comprising:

17. A computer program for causing a computer to function as each of the means of the information processing apparatus according to any one of claims 1 to 15.

Images