Imaging system, imaging method, and program

Abstract

To properly adjust a focal position.SOLUTION: An imaging system 1 comprises a plurality of imaging apparatuses 100. Each of the imaging apparatuses 100 comprises: an image pickup device; an object information acquisition unit for acquiring position information of an object existing in an image-pickup area AR0 of the image pickup device; a target area acquisition unit for setting a target area AR within the image-pickup area AR0; and a focal position control unit which in a case where an object exists within the target area AR, controls the focal position of the imaging apparatus 100 so as to adjust the focal position on the object. The target area acquisition unit of each of the imaging apparatuses 100 sets the target area AR in such a manner that at least part of the areas of respective target areas AR may overlap with each other.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] An imaging device with an autofocus method for automatically setting the focus position is known. For example, Patent Document 1 describes focusing on a predetermined position designated by a user.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an imaging device with an autofocus method, it is required to appropriately focus.

[0005] In view of the above problems, an object of the present invention is to provide an imaging system, an imaging method, and a program capable of appropriately focusing.

Means for Solving the Problems

[0006] An imaging system according to an aspect of the present invention is an imaging system having a plurality of imaging devices, each of the imaging devices including an imaging element, an object information acquisition unit that acquires position information of an object existing in an imaging region of the imaging element, a target region acquisition unit that sets a target region within the imaging region, and a focus position control unit that controls the focus position of the imaging device so as to focus on the object when the object exists within the target region, and the target region acquisition unit of each of the imaging devices sets the target region such that at least a part of the regions of each of the target regions overlap each other.

[0007] An imaging method according to one aspect of the present invention is an imaging method performed by a plurality of imaging devices, comprising the steps of: causing each of the imaging devices to acquire positional information of an object present in an imaging area; causing each of the imaging devices to set a target area within the imaging area; and causing each of the imaging devices to control the focal position of the imaging device so as to focus on an object present in the target area, wherein in the step of controlling the focal position, the target areas are set such that at least a portion of each of the target areas overlap.

[0008] A program according to one aspect of the present invention is a program that causes a computer to execute an imaging method using a plurality of imaging devices, the program causing the computer to execute the following steps: to cause each of the imaging devices to acquire positional information of an object present in the imaging area; to cause each of the imaging devices to set a target area within the imaging area; and to cause each of the imaging devices to control the focal position of the imaging device so that, if an object is present in the target area, the focal position of the imaging device is set to focus on that object, wherein in the step of controlling the focal position, the target areas are set so that at least a portion of each of the target areas overlap. [Effects of the Invention]

[0009] According to the present invention, it is possible to properly focus the image. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic block diagram of an imaging device according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram illustrating an example of a target area. [Figure 3] Figure 3 is a schematic diagram illustrating an example of a target area. [Figure 4]Figure 4 is a flowchart illustrating the setting flow for the target area. [Figure 5] Figure 5 is a schematic diagram illustrating the setting of the focal point. [Figure 6] Figure 6 is a flowchart illustrating the process flow for setting the focal point. [Figure 7] Figure 7 is a schematic diagram showing an example of setting the focal point in the second embodiment. [Figure 8] Figure 8 is a flowchart illustrating the process flow for setting the focal position in the second embodiment. [Figure 9] Figure 9 is a schematic diagram showing an example of setting the focal point in the third embodiment. [Figure 10] Figure 10 is a schematic diagram showing an example of setting the focal point in another example of the third embodiment. [Figure 11] Figure 11 is a flowchart illustrating the process flow for setting the focal point in the third embodiment. [Figure 12] Figure 12 is a schematic diagram illustrating an example where the motion of an object is subject to predetermined conditions. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below.

[0012] (First Embodiment) (Configuration of the imaging device) Figure 1 is a schematic block diagram of an imaging device according to the first embodiment. The imaging device 100 according to the first embodiment is an imaging device that captures images of objects within the imaging range. The imaging device 100 is an autofocus camera capable of automatically setting the focal position. The imaging device 100 may be a video camera that captures moving images by capturing images at predetermined frame intervals, or it may be a camera that captures still images. The imaging device 100 may be used for any purpose, for example, as a surveillance camera set up at a predetermined location inside or outside a facility.

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

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

[0015] The imaging element 12 is an element that converts light incident through the optical element 10 into an image signal which is an electrical signal. The imaging element 12 is, for example, a CCD (Charge Coupled Device) sensor, a CMOS (Complementary Metal Oxide Semiconductor) sensor, or the like.

[0016] The image processing circuit 13 generates image data for each frame from the image signal generated by the imaging element 12. The image data is data that includes, for example, luminance and color information of each pixel in one frame, and may be data to which gradation is assigned for each pixel.

[0017] The object position measurement unit 14 is a sensor that measures the position of an object to be measured with respect to the imaging device 100 (the relative position of the object). The object here may be any object, may be a living thing or an inanimate object, and the same applies hereinafter. Also, the object here may refer to a movable object, but is not limited thereto and may refer to an immovable object.

[0018] In this embodiment, the object position measuring unit 14 measures the distance from the imaging device 100 to the object as the relative position of the object. The object position measuring unit 14 may be any sensor capable of measuring the relative position of an object, but for example, it may be a TOF (Time Of Flight) sensor. If the object position measuring unit 14 is a TOF sensor, for example, it is provided with a light-emitting element (e.g., an LED (Light Emitting Diode)) that emits light and a light-receiving unit that receives light, and the distance to the object is measured by the time of flight of the light that is emitted from the light-emitting element to the object and returns to the light-receiving unit. In addition to measuring the distance from the imaging device 100 to the object as the relative position of the object, the object position measuring unit 14 may also measure, for example, the direction in which the object is located relative to the imaging device 100. In other words, the object position measuring unit 14 may measure the position (coordinates) of the object in a coordinate system with the imaging device 100 as the origin as the relative position of the object.

[0019] The input unit 16 is a mechanism that receives input (operation) from the user, and may be, for example, a button, a keyboard, a touch panel, etc.

[0020] The display unit 18 is a display panel that displays images. In addition to the images captured by the imaging device 100, the display unit 18 may also be capable of displaying images for the user to set the target area AR, which will be described later.

[0021] The communication unit 20 is a communication module that communicates with external devices, and may be, for example, an antenna or a Wi-Fi® module. The imaging device 100 communicates with external devices via wireless communication, but it may also use wired communication, and the communication method is arbitrary.

[0022] The memory unit 22 is a memory that stores captured image data and various information such as calculation contents and programs of the control unit 24. For example, it includes at least one of the following: RAM (Random Access Memory), main memory such as ROM (Read Only Memory), and external memory such as HDD (Hard Disk Drive). The program for the control unit 24 stored in the memory unit 22 may be stored on a recording medium that the imaging device 100 can read.

[0023] The control unit 24 is an arithmetic unit and includes arithmetic circuits such as a CPU (Central Processing Unit). The control unit 24 includes a target area acquisition unit 30, an object information acquisition unit 32, a region position information acquisition unit 33, a focus position control unit 34, an imaging control unit 36, and an image acquisition unit 38. The control unit 24 reads a program (software) from the storage unit 22 and executes it to realize the target area acquisition unit 30, the object information acquisition unit 32, the region position information acquisition unit 33, the focus position control unit 34, the imaging control unit 36, and the image acquisition unit 38, and executes their processing. The control unit 24 may execute these processes with a single CPU, or it may have multiple CPUs and execute the processing with those multiple CPUs. In addition, at least a part of the processing of the target area acquisition unit 30, the object information acquisition unit 32, the region position information acquisition unit 33, the focus position control unit 34, the imaging control unit 36, and the image acquisition unit 38 may be realized with hardware circuits.

[0024] The target area acquisition unit 30 acquires target area AR information for setting the focal position, the object information acquisition unit 32 acquires position information of the object to be imaged, the area position information acquisition unit 33 acquires area position information for synchronizing the target area AR among multiple imaging devices 100, the focal position control unit 34 controls the focal position of the imaging device 100, the imaging control unit 36 ​​controls imaging by the imaging device 100, and the image acquisition unit 38 acquires the image captured by the imaging device 100. Each of these processes will be described later.

[0025] (Imaging system) In this embodiment, multiple imaging devices 100 perform imaging, and the target area AR of each imaging device 100 is set such that parts of the target area AR of each imaging device 100 overlap. Hereinafter, an imaging system having multiple imaging devices 100 will be referred to as imaging system 1. In the following explanation, imaging system 1 will be described using the example of imaging system 1 including a first imaging device 100a and a second imaging device 100b, but the number of imaging devices 100 in imaging system 1 is not limited to two, but may be any number of three or more.

[0026] (Setting the target area) Each imaging device 100 sets the target area AR. The method for setting the target area AR is described below. Hereafter, the target area AR of the first imaging device 100a will be referred to as the first target area ARa, and the target area AR of the second imaging device 100b will be referred to as the second target area ARb. When the first target area ARa and the second target area ARb are not distinguished, they will simply be referred to as the target area AR.

[0027] (Setting the target area of ​​the first imaging device) The first imaging device 100a acquires information about the target area AR (first target area ARa) set within the imaging area AR0 of the first imaging device 100a using the target area acquisition unit 30. The target area AR is an area set to automatically adjust the focal position. The information about the target area AR is information indicating the position of the target area AR, that is, the position information of the target area AR.

[0028] Figures 2 and 3 are schematic diagrams illustrating an example of a target area. Figure 2 is a view of the imaging device 100 and the target area AR from above in the vertical direction, and Figure 3 is a view of the imaging device 100 and the target area AR from the horizontal direction. Hereinafter, direction Z will be defined as the vertical direction, direction X as one horizontal direction perpendicular to direction Z, and direction Y as a direction perpendicular to both direction Z and direction X (horizontal direction). As shown in Figures 2 and 3, the range in which an image can be captured by the imaging device 100 is defined as the imaging area AR0. The imaging area AR0 refers to the area (space) that falls within the field of view of the image sensor 12, or in other words, the range in real space that is captured as an image. The target area AR is the area (space) set within the range of the imaging area AR0.

[0029] The first target region ARa is located within the imaging region AR0 of the first imaging device 100a, between the first position AX1 and the second position AX2. The first position AX1 is a position at which the distance from the first imaging device 100a is the first distance L1, and the second position AX2 is a position at which the distance from the first imaging device 100a is the second distance L2, which is shorter than the first distance L1. As shown in Figures 2 and 3, in this embodiment, the first position AX1 can be said to be a virtual plane within the imaging region AR0 of the first imaging device 100a that includes each position (coordinate) at which the distance from the first imaging device 100a is the first distance L1. Similarly, the second position AX2 can be said to be a virtual plane within the imaging region AR0 of the first imaging device 100a that includes each position (coordinate) at which the distance from the first imaging device 100a is the second distance L2. In other words, the first target region ARa can be said to be a space that occupies at least a part of the space enclosed by a virtual plane whose distance from the first imaging device 100a is the second distance L2 and a virtual plane whose distance from the first imaging device 100a is the first distance L1, within the imaging region AR0 of the first imaging device 100a. Note that the first position AX1 is not limited to all positions (coordinates) included in the first position AX1 being on a virtual plane whose distance from the first imaging device 100a is the first distance L1; at least some of the positions (coordinates) included in the first position AX1 may be on a virtual plane whose distance from the first imaging device 100a is the first distance L1. Similarly, the second position AX2 may be on a virtual plane whose distance from the first imaging device 100a is the second distance L2, at least some of the positions (coordinates) included in the second position AX2.

[0030] The size and shape of the first target area ARa are not limited to those described above and may be arbitrary. Similarly, the position of the first target area ARa is not limited to those described above and may be arbitrary. For example, the first target area ARa is not limited to being located between the first position AX1 and the second position AX2. Furthermore, in the above description, the first target area ARa was defined as an area set within the imaging area AR0 of the first imaging device 100a, but this is not limited to that. For example, if the range within which the object position measuring unit 14 of the first imaging device 100a can measure distance is defined as the distance measuring area (distance measuring space), then the first target area ARa may be an area set within the distance measuring area. In this case, the imaging area AR0 in Figures 2 and 3 may be treated as the distance measuring area.

[0031] The target area acquisition unit 30 of the first imaging device 100a may acquire information about the first target area ARa by any method. For example, the position of the first target area ARa may be set in advance. In this case, the target area acquisition unit 30 of the first imaging device 100a may read the pre-set position information of the first target area ARa from the storage unit 22, or it may acquire the position information of the first target area ARa from another device via the communication unit 20. Also, for example, if the position of the first target area ARa is not set in advance, the target area acquisition unit 30 may automatically set the position of the first target area ARa. Also, for example, the user may set the position of the first target area ARa. In this case, for example, the user may input information specifying the position of the first target area ARa (for example, the values ​​of the first distance L1 and the second distance L2) to the input unit 16 of the first imaging device 100a, and the target area acquisition unit 30 may set the first target area ARa based on the position information of the first target area ARa specified by the user. Alternatively, for example, the first target region ARa may be defined by specifying coordinates. That is, in the example shown in Figure 2, coordinates P1, P2, P3, and P4, which are the vertex positions of the target region AR, may be specified, and the region enclosed by coordinates P1 to P4 may be defined as the first target region ARa.

[0032] (Acquisition of region location information) The first imaging device 100a acquires region position information using the region position information acquisition unit 33. Region position information is information indicating the position (relative position) of the first target region ARa with respect to the reference object B. Specifically, the first imaging device 100a acquires the position information of the reference object B located within the imaging region AR0 using the object information acquisition unit 32. The object information acquisition unit 32 controls the object position measurement unit 14 to measure the relative position of the reference object B with respect to the first imaging device 100a. The object information acquisition unit 32 acquires the measurement result of the relative position of the reference object B with respect to the first imaging device 100a, obtained by the object position measurement unit 14, as the position information of the reference object B.

[0033] The region position information acquisition unit 33 of the first imaging device 100a calculates the position (relative position) of the first target region ARa with respect to the reference object B based on the position information of the reference object B and the position information of the first target region ARa, and acquires the position of the first target region ARa with respect to the reference object B as region position information. The region position information can be said to be information that shows the coordinates of the first target region ARa with respect to the position (coordinates) of the reference object B, and can also be said to be information that shows the deviation of the position of the first target region ARa with respect to the position of the reference object B. The position of the first target region ARa with respect to the reference object B here may refer to, for example, the position of the reference point (e.g., the center point) of the first target region ARa with respect to the reference object B, or it may refer to the positions of each vertex of the first target region ARa with respect to the reference object B.

[0034] In this embodiment, the region position information acquisition unit 33 of the first imaging device 100a acquires region position information based on three or more reference objects B. That is, the region position information acquisition unit 33 acquires information indicating the position of the first target region ARa with respect to each of the three or more reference objects B as region position information. In the example in Figure 2, three reference objects Ba, Bb, and Bc are set, and the region position information acquisition unit 33 acquires the position of the first target region ARa with respect to reference object Ba, the position of the first target region ARa with respect to reference object Bb, and the position of the first target region ARa with respect to reference object Bc as region position information. However, the number of reference objects B used for region position information is not limited to three or more, but may be one or any number of two or more.

[0035] The region position information acquisition unit 33 of the first imaging device 100a may select an object to be used as reference object B by any method. For example, the region position information acquisition unit 33 may automatically select reference object B. In this case, for example, the region position information acquisition unit 33 may extract objects that exist within the imaging area AR0 (or distance measurement area) of both the first imaging device 100a and the second imaging device 100b from the object position information acquired by the object information acquisition unit 32, and select reference object B from among the extracted objects. Alternatively, for example, the user may specify reference object B. In this case, for example, the user may input information specifying reference object B to the input unit 16 of the first imaging device 100a based on the image of the imaging area AR0 displayed on the display unit 18 (for example, by touching an object on the image), and the target region acquisition unit 30 may use the object specified by the user as reference object B.

[0036] Furthermore, in the above explanation, the first target region ARa and the reference object B were set independently of each other, and then the region position information, which is the relative position between the first target region ARa and the reference object B, was calculated. However, this is not limited to this; for example, the first target region ARa may be set based on the position of the reference object B and the region position information after the reference object B and the region position information have been set.

[0037] The region position information acquisition unit 33 of the first imaging device 100a transmits the acquired region position information to the second imaging device 100b via the communication unit 20. Note that the second imaging device 100b does not set region position information, so it does not need to include the region position information acquisition unit 33 shown in Figure 1.

[0038] (Setting the target area of ​​the second imaging device) The target area acquisition unit 30 of the second imaging device 100b acquires area position information from the first imaging device 100a via the communication unit 20. Based on the area position information acquired from the first imaging device 100a by the target area acquisition unit 30, the second imaging device 100b sets the second target area ARb. This will be explained in detail below.

[0039] The target area acquisition unit 30 of the second imaging device 100b acquires information about reference object B. Information about reference object B refers to information about reference object B used by the first imaging device 100a to acquire area position information, or in other words, information indicating which of the objects present within the imaging area AR0 (or distance measurement area) of the second imaging device 100b is reference object B. The target area acquisition unit 30 of the second imaging device 100b may acquire information about reference object B by any method. For example, information about reference object B may be transmitted from the first imaging device 100a along with area position information, and the target area acquisition unit 30 of the second imaging device 100b may acquire information about reference object B from the first imaging device 100a. Alternatively, for example, the user may input information about reference object B. In this case, for example, the user may have previously recognized information about reference object B, and based on the image within the imaging area AR0 displayed on the display unit 18, input information to specify reference object B to the input unit 16 of the second imaging device 100b (for example, by touching an object on the image), and the target area acquisition unit 30 may use the object specified by the user as reference object B.

[0040] The object information acquisition unit 32 of the second imaging device 100b acquires the position information of the reference object B specified in the information of the reference object B acquired by the target area acquisition unit 30. The object information acquisition unit 32 controls the object position measurement unit 14 to measure the relative position of the reference object B with respect to the second imaging device 100b. The object information acquisition unit 32 acquires the measurement result of the relative position of the reference object B with respect to the second imaging device 100b, as position information of the reference object B, by the object position measurement unit 14.

[0041] The target area acquisition unit 30 of the second imaging device 100b sets the second target area ARb based on the position information of the reference object B and the area position information. The target area acquisition unit 30 sets the second target area ARb as a position that is shifted from the position of the reference object B relative to the second imaging device 100b by the amount of the deviation from the position of the first target area ARa relative to the reference object B indicated by the area position information.

[0042] Thus, since the first target region ARa and the second target region ARb are set to be shifted by the same amount from a common reference object B, the first target region ARa and the second target region ARb are set to overlap. In this embodiment, the first target region ARa and the second target region ARb are set to completely overlap, that is, the entire area of ​​the first target region ARa and the entire area of ​​the second target region ARb overlap without any shift.

[0043] The method for setting the first target region ARa and the second target region ARb is not limited to the above description and is arbitrary, and is not limited to being set using a reference object B or region position information. The first target region ARa and the second target region ARb may be set in any way such that at least a portion of the area (space) of the first target region ARa and at least a portion of the area (space) of the second target region ARb overlap.

[0044] The second target area ARb is set to be located within the imaging area AR0 of the second imaging device 100b and within the distance measuring area of ​​the second imaging device 100b. The second target area ARb may also be located between a first position where the distance from the second imaging device 100b is the first distance L1 and a second position where the distance from the second imaging device 100b is the second distance L2.

[0045] (Setting up the target area flow) The setting flow for the target area AR of the multiple imaging devices 100 described above will now be explained. Figure 4 is a flowchart illustrating the setting flow for the target area. As shown in Figure 4, the first imaging device 100a sets the first target area ARa using the target area acquisition unit 30 (step S10), and acquires the position information of the reference object B (information on the relative position of the reference object B with respect to the first imaging device 100a) using the object information acquisition unit 32 (step S12). The order in which steps S10 and S12 are performed is arbitrary. After that, the first imaging device 100a acquires region position information based on the position information of the reference object B using the region position information acquisition unit 33 (step S14), and transmits the region position information to the second imaging device 100b (step S16).

[0046] The second imaging device 100b acquires region position information from the first imaging device 100a (step S18), and the object information acquisition unit 32 acquires the position information of the reference object B (information on the relative position of the reference object B with respect to the second imaging device 100b) (step S20). The second imaging device 100b sets the second target region ARb based on the position information of the reference object B and the region position information using the target region acquisition unit 30 (step S22).

[0047] In the above explanation, the method for setting the target area AR for two imaging devices 100 has been described, but the same method may be used to set the target area AR when there are three or more imaging devices 100. That is, for example, if a third imaging device is provided, the third imaging device may set the target area AR for the third imaging device based on the position information and region position information of the reference object B, similar to the second imaging device 100b.

[0048] (Setting the focus position) Next, we will explain how to set the focal position. Since the method for setting the focal position is the same for each imaging device 100 (in this example, the first imaging device 100a and the second imaging device 100b), we will simply explain it as for imaging device 100.

[0049] The object information acquisition unit 32 acquires positional information of objects located within the imaging area AR0. The object information acquisition unit 32 controls the object position measurement unit 14 to measure the relative position of the object with respect to the imaging device 100. The object information acquisition unit 32 acquires the measurement result of the relative position of the object with respect to the imaging device 100, obtained by the object position measurement unit 14, as the object's positional information. The object information acquisition unit 32 acquires the object's positional information sequentially by acquiring the object's positional information at predetermined time intervals. In addition, the object information acquisition unit 32 can also acquire information indicating the shape of the object (for example, the object's 3D shape) based on the object's positional information. For example, the object information acquisition unit 32 can acquire the object's 3D shape by accumulating multiple pieces of positional information, such as TOF image information.

[0050] The focus position control unit 34 sets the focal position of the imaging device 100. The focus position control unit 34 controls the focal position by controlling the position of the optical element 10, that is, by moving the position of the optical element 10.

[0051] The focus position control unit 34 adjusts the focus position to an object that exists within the target area AR. In other words, the focus position control unit 34 sets the focus position to the position of an object that is determined to exist within the target area AR. In this embodiment, the focus position control unit 34 determines whether an object exists within the target area AR based on the object's position information acquired by the object information acquisition unit 32. If the position of the object acquired by the object information acquisition unit 32 coincides with the position of the target area AR, the focus position control unit 34 determines that the object exists within the target area AR and adjusts the focus position to the position of that object acquired by the object information acquisition unit 32. On the other hand, the focus position control unit 34 does not adjust the focus position to an object that does not exist within the target area AR.

[0052] The focus position control unit 34 maintains its focus on the object as long as the object is within the target area AR. That is, based on the object's position information acquired by the object information acquisition unit 32 at predetermined time intervals, the focus position control unit 34 determines whether the object continues to be within the target area AR, and maintains its focus on the object as long as the object continues to be within the target area AR. On the other hand, if the object that has been focused moves outside the target area AR, that is, if it is no longer within the target area AR, the focus position control unit 34 shifts its focus away from the object and focuses on a location other than the object.

[0053] Furthermore, the focus position control unit 34 does not need to focus on objects that are already within the target area AR from the time the imaging device 100 starts operating (the moment it becomes ready to image). In other words, the focus position control unit 34 may focus on objects that enter the target area AR after the start of operation. To put it another way, the focus position control unit 34 may focus on objects that are within the target area AR at a certain point in time but were not within the target area AR at a time prior to that point, starting from the moment they begin to enter the target area AR. To put it another way, the focus position control unit 34 may recognize an object as a target to focus on when it moves from outside the target area AR into the target area AR. In other words, the focus position control unit 34 may focus on objects that have moved from outside the target area AR into the target area AR.

[0054] Furthermore, if no object is present within the target area AR, the focus position control unit 34 may adjust the focus position to a pre-set position. The set position can be set arbitrarily, but it is preferable that it be set within the target area AR, such as the center position of the target area AR.

[0055] The example of setting the focal position described above will now be explained based on Figure 5. Figure 5 is a schematic diagram for explaining the setting of the focal position. Figure 5 shows an example where object A moves from position A0, through position A1, to position A2. Position A0 is outside the range of the first target area ARa and the second target area ARb, position A1 is within the range of the first target area ARa and the second target area ARb, and position A2 is outside the range of the first target area ARa and the second target area ARb. In this case, the focal position control units 34 of the first imaging device 100a and the second imaging device 100b do not set the focal position on object A when object A is at position A0, but rather set the focal position to, for example, a set position. Then, the focal position control units 34 of the first imaging device 100a and the second imaging device 100b set the focal position on object A when object A is at position A1, that is, when object A enters the range of the first target area ARa and the second target area ARb. The focus position control unit 34 keeps the focus position fixed on object A while object A is located within the range of the first target area ARa and the second target area ARb. When object A moves to position A2, that is, when object A moves outside the range of the first target area ARa and the second target area ARb, the focus position is removed from object A and returned to the set position. In other words, from the moment object A enters the target area AR, the focus position is fixed on object A, and the focus position is moved in accordance with the moving object A while object A is moving within the target area AR. When object A moves outside the target area AR, the focus position is removed from object A.

[0056] For example, if the first target area ARa and the second target area ARb do not completely overlap, and object A is within the range of the first target area ARa but outside the range of the second target area ARb, the first imaging device 100a will focus on object A, but the second imaging device 100b will not focus on object A. Similarly, if object A is within the range of the second target area ARb but outside the range of the first target area ARa, the second imaging device 100b will focus on object A, but the first imaging device 100a will not focus on object A.

[0057] The focal position may be set by the user. In this case, for example, it may be possible to switch between an auto mode in which the focal position is set automatically and a manual mode in which the user sets the focal position. In auto mode, the focal position is set by the focal position control unit 34 as described above. On the other hand, in manual mode, the user inputs an operation to set the focal position to the input unit 16, and the focal position control unit 34 sets the focal position according to the user's operation.

[0058] (Image Control Unit) The imaging control unit 36 ​​controls the imaging device 100 to capture an image. The imaging control unit 36 ​​controls, for example, the image sensor 12 to acquire an image signal. For example, the imaging control unit 36 ​​may have the image sensor 12 acquire an image signal automatically, or it may have the image signal acquired in response to user operation.

[0059] (Image acquisition unit) The image acquisition unit 38 acquires image data acquired by the image sensor 12. The image acquisition unit 38 controls, for example, the image processing circuit 13 to cause the image processing circuit 13 to generate image data from the image signal generated by the image sensor 12, and acquires that image data. The image acquisition unit 38 stores the image data in the storage unit 22.

[0060] (Focus position setting flow) Next, the processing flow for setting the focal position described above will be explained. Figure 6 is a flowchart illustrating the processing flow for setting the focal position. As shown in Figure 6, the control unit 24 acquires information on the target area AR using the target area acquisition unit 30 (step S30), and acquires the position information of the object using the object information acquisition unit 32 (step S32). The order in which steps S30 and S32 are performed is arbitrary. The control unit 24, using the focal position control unit 34, determines whether the object is located within the target area AR based on the object's position information (step S34). If the object is not located within the target area AR (step S34; No), the process returns to step S32 and continues to acquire the object's position information. On the other hand, if the object is located within the target area AR (step S34; Yes), the focal position control unit 34 adjusts the focal position to that object (step S36). After that, the process continues to acquire the object's position information and determines whether the object has moved outside the target area AR (step S38). If the object does not move outside the target area AR (step S38; No), that is, if the object remains within the target area AR, the process returns to step S36 and the focus position is maintained on the object. If the object moves outside the target area AR (step S38; Yes), the focus position control unit 34 moves the focus position away from the object (step S40). If the process is not terminated thereafter (step S42; No), the process returns to step S32, and if the process is terminated (step S42; Yes), this process is terminated.

[0061] As described above, the imaging system 1 according to this embodiment has a plurality of imaging devices 100. Each imaging device 100 has an image sensor 12, an object information acquisition unit 32 that acquires position information of objects present in the imaging area AR0 of the image sensor 12, a target area acquisition unit 30 that sets a target area AR within the imaging area AR0, and a focus position control unit 34 that controls the focus position of the imaging device 100 so as to focus on an object if an object is present in the target area AR. The target area acquisition unit 30 of each imaging device 100 sets the target area AR such that at least a portion of each target area AR overlaps with each other.

[0062] In an imaging system having multiple autofocus imaging devices, it is required to appropriately adjust the focal position. In response to this, the imaging system 1 according to this embodiment sets the target area AR such that at least a portion of the target area of ​​each imaging device 100 overlaps, and controls the focal position of the imaging device 100 to focus on the object if an object exists within each target area AR. Therefore, according to this embodiment, since the area of ​​interest can be aligned for multiple imaging devices 100, the focal position can be appropriately adjusted to focus on an object within the area of ​​interest.

[0063] Furthermore, the imaging system 1 includes at least a first imaging device 100a and a second imaging device 100b as a plurality of imaging devices 100. The region position information acquisition unit 33 of the first imaging device 100a acquires region position information indicating the position of the first target region ARa relative to the reference object B, based on the position information of the reference object B acquired by the object information acquisition unit 32. The target region acquisition unit 30 of the second imaging device 100b acquires region position information from the first imaging device 100a and sets the second target region ARb based on the region position information. Therefore, the imaging system 1 according to this embodiment can appropriately set the second target region ARb so as to overlap with the first target region ARa. Moreover, by using information of the reference object B, the second target region ARb can be appropriately set without sharing position information between the imaging devices 100.

[0064] Furthermore, the region position information acquisition unit 33 of the first imaging device 100a acquires information indicating the position of the first target region ARa relative to each of the three or more reference objects B as region position information. By using three or more reference objects B, the position of the first target region ARa can be appropriately defined, and the second target region ARb can be appropriately set.

[0065] Furthermore, the target area acquisition unit 30 of the second imaging device 100b sets the second target area ARb based on the information of the reference object B. Therefore, according to this embodiment, the second target area ARb can be set appropriately.

[0066] (Second Embodiment) Next, a second embodiment will be described. In the second embodiment, when an object is located in the overlapping region ARW where the target regions AR of each imaging device 100 overlap, the imaging device 100 that focuses on the object is selected based on the position from which the object is entering. This differs from the first embodiment. The parts of the second embodiment that are common with the first embodiment will not be explained.

[0067] Figure 7 is a schematic diagram showing an example of setting the focal position in the second embodiment. In the second embodiment, the focal position control unit 34 of each imaging device 100 acquires intrusion position information. Intrusion position information is information indicating the intrusion position of the object from which the focal position is to be focused. If the overlapping region ARW is defined as the region (space) where the target regions AR of each imaging device 100 overlap, then the intrusion position refers to the position from which the object entered the overlapping region ARW, or in other words, from which direction of the boundary (periphery) of the overlapping region ARW the object entered. That is, for example, as in the case of object Ab in Figure 7, if object Ab entered from the periphery (boundary) on the Y-direction side of the overlapping region ARW, the intrusion position can be said to be on the Y-direction side. Since the intrusion position information indicates the intrusion position of the object from which the focal position is to be focused, it can also be said to indicate which intrusion position of the object from which the focal position is to be focused.

[0068] The entry position information is set for each imaging device 100. Preferably, the entry position information for each imaging device 100 is set so that the entry position of the object to be focused is different from that of the other imaging device 100. For example, in the entry position information acquired by the first imaging device 100a, the entry position of the object to be focused may be on the X direction side, and in the entry position information acquired by the second imaging device 100b, the entry position of the object to be focused may be on the Y direction side. However, the entry positions of the objects to be focused may overlap for each imaging device 100. That is, for example, in the entry position information acquired by the first imaging device 100a, the entry position of the object to be focused may be on both the X and Y directions, and in the entry position information acquired by the second imaging device 100b, the entry position of the object to be focused may be on the Y direction side.

[0069] Each imaging device 100 may acquire intrusion location information by any method. For example, intrusion location information may be pre-set. In this case, each imaging device 100 may read the pre-set intrusion location information from the storage unit 22, or it may acquire the intrusion location information from other devices via the communication unit 20. Also, for example, if the intrusion location information is not pre-set, each imaging device 100 may automatically set the intrusion location information. Also, for example, a user may set the intrusion location information. In this case, for example, the user may input the intrusion location information into the input unit 16, and the target area acquisition unit 30 may acquire the intrusion location information input by the user.

[0070] Each imaging device 100 focuses on an object when it enters the overlapping area ARW from an entry position specified in the entry position information. That is, when an object enters the overlapping area ARW, each imaging device 100 identifies the entry position of the object, based on the object's position information acquired by the object information acquisition unit 32, and determines from which direction the object entered the overlapping area ARW. Then, each imaging device 100 determines whether the identified entry position matches the entry position specified in the entry position information, and if they match, the focus position control unit 34 focuses on that object. On the other hand, if the identified entry position does not match the entry position specified in the entry position information, the focus position is not focused on that object.

[0071] The above process will be explained using Figure 7 as an example. In Figure 7, the entry position information acquired by the first imaging device 100a shows that the entry position of the object to be focused is on the opposite side of the X direction, while the entry position information acquired by the second imaging device 100b shows that the entry position of the object to be focused is on the Y direction side, and the entire areas of the first target region ARa and the second target region ARb overlap. First, let's consider the case where object Aa moves from position Aa1 through position Aa2 to position Aa3. Position Aa1 is outside the overlapping region ARW and is located on the opposite side of the overlapping region ARW in the X direction. Position Aa2 is a position that overlaps with the boundary (periphery) of the overlapping region ARW on the opposite side of the X direction. Position Aa3 is within the overlapping region ARW. In this case, since object Aa enters the overlapping region ARW from position Aa2, the entry position is on the opposite side of the X direction. Therefore, the first imaging device 100a focuses on object Aa from the moment the object is located at position Aa2, while the second imaging device 100b does not focus on object Aa.

[0072] Next, let's consider the case where object Ab moves from position Ab1 through position Ab2 to position Ab3. Position Ab1 is outside the overlapping region ARW and is located on the Y-direction side of the overlapping region ARW. Position Ab2 is located on the Y-direction boundary (periphery) of the overlapping region ARW. Position Ab3 is within the overlapping region ARW. In this case, since object Ab enters the overlapping region ARW from position Ab2, the entry position is on the Y-direction side. Therefore, the second imaging device 100b focuses on object Ab from the moment the object reaches position Ab2, while the first imaging device 100a does not focus on object Ab.

[0073] Next, the processing flow for setting the focal position described above will be explained. Figure 8 is a flowchart illustrating the processing flow for setting the focal position in the second embodiment. As shown in Figure 8, the control unit 24 acquires information on the target area AR and intrusion position information using the target area acquisition unit 30 (step S50), and acquires the position information of the object using the object information acquisition unit 32 (step S52). The order in which steps S50 and S52 are performed is arbitrary. The control unit 24, using the focal position control unit 34, determines whether the object is located within the overlapping area ARW based on the object's position information (step S54). If the object is located within the overlapping area ARW (step S54; Yes), the focal position control unit 34 determines whether the object entered from the intrusion position indicated by the intrusion position information (set intrusion position) (step S56), and if the object entered from the set intrusion position, it adjusts the focal position to that object (step S58). If the process is not terminated afterward (Step S60; No), the process returns to Step S52; if the process is terminated (Step S60; Yes), the process is terminated. Also, if the object is not located within the overlapping area ARW (Step S54; No) or if the object has not entered from the set entry position (Step S56; No), the process proceeds to Step S60 without focusing on the object. Note that if the object is outside the overlapping area ARW but is located within the target area AR of its imaging device 100, the focus position control unit 34 may focus on the object regardless of the object's entry position.

[0074] As described above, in the second embodiment, the focus position control unit 34 of each imaging device 100 acquires intrusion position information indicating the intrusion position of the object to be focused, and when an object enters the overlapping region ARW from the position specified in the intrusion position information, it focuses on that object. In the second embodiment, in the overlapping region ARW, the imaging device 100 that focuses on the object can be selected according to the object's intrusion position, so that imaging can be performed by the imaging device 100 that can appropriately image the object.

[0075] In the second embodiment, it is not necessary to set the first target region ARa and the second target region ARb in the same manner as in the first embodiment. The first target region ARa and the second target region ARb may be set in any manner in which at least a portion of the regions of the first target region ARa and the second target region ARb overlap.

[0076] (Third embodiment) Next, a third embodiment will be described. The third embodiment differs from the first embodiment in that, based on designation information that specifies whether or not to focus on an object located in the overlapping region ARW, an imaging device 100 that focuses on an object located in the overlapping region ARW is assigned. In the third embodiment, parts that have the same configuration as the first embodiment will not be described. Note that the third embodiment is also applicable to the second embodiment.

[0077] Figure 9 is a schematic diagram showing an example of setting the focal position in the third embodiment. In the third embodiment, the focal position control unit 34 of each imaging device 100 acquires designation information. The designation information is information that specifies whether or not to adjust the focal position when an object is located in the overlapping region ARW. The designation information is set for each imaging device 100.

[0078] Each imaging device 100 may acquire the specified information by any method. For example, the specified information may be pre-set. In this case, each imaging device 100 may read the pre-set specified information from the storage unit 22, or it may acquire the specified information from another device via the communication unit 20. Also, for example, if the specified information is not pre-set, each imaging device 100 may automatically set the specified information. Also, for example, a user may set the specified information. In this case, for example, the user may input the specified information into the input unit 16, and the target area acquisition unit 30 may acquire the specified information input by the user.

[0079] Each imaging device 100 determines, based on specified information, whether to focus on an object located in the overlapping area ARW. For example, if the specified information indicates that the imaging device 100 should focus on an object located in the overlapping area ARW, it will focus on the object located within the overlapping area ARW. On the other hand, if the specified information indicates that the imaging device 100 should not focus on an object located in the overlapping area ARW, it will not focus on an object located within the overlapping area ARW.

[0080] In this embodiment, the specification information for each imaging device 100 may be set so that there is only one imaging device 100 that is specified to focus when an object is located in the overlapping region ARW. That is, taking Figure 9 as an example, the specification information for the first imaging device 100a may be specified to focus when an object is located in the overlapping region ARW, and the specification information for the second imaging device 100b may be specified not to focus when an object is located in the overlapping region ARW. In this case, the first imaging device 100a focuses on object Ac located in the overlapping region ARW, and the second imaging device 100b does not focus on object Ac located in the overlapping region ARW.

[0081] However, the specification information for each imaging device 100 may be set so that there are multiple imaging devices 100 that are specified to focus when an object is located in the overlapping region ARW. That is, taking Figure 9 as an example, the specification information for both the first imaging device 100a and the second imaging device 100b may be specified to focus when an object is located in the overlapping region ARW. In this case, both the first imaging device 100a and the second imaging device 100b will focus on object Ac located in the overlapping region ARW.

[0082] Furthermore, the designation information may be set so that the overlapping region ARW is divided into multiple regions, and an imaging device 100 is assigned to each region to adjust the focal position. Figure 10 is a schematic diagram showing an example of setting the focal position in another example of the third embodiment. In this case, for example, as shown in Figure 10, the overlapping region ARW is divided into a first overlapping region ARWa and a second overlapping region ARWb. The designation information for the first imaging device 100a specifies that it adjusts the focal position when an object is located in the first overlapping region ARWa, and does not adjust the focal position when an object is located in the second overlapping region ARWb. On the other hand, the designation information for the second imaging device 100b specifies that it adjusts the focal position when an object is located in the second overlapping region ARWb, and does not adjust the focal position when an object is located in the first overlapping region ARWa. In this case, the first imaging device 100a adjusts the focal position for object Ad located in the first overlapping region ARWa, and does not adjust the focal position for object Ae located in the second overlapping region ARWb. On the other hand, the second imaging device 100b focuses on object Ae located in the second overlapping region ARWb, but does not focus on object Ad located in the first overlapping region ARWa.

[0083] The method for dividing the overlapping region ARW is arbitrary, but for example, the region of the overlapping region ARW that is close to the region of the overlapping region ARa of the first imaging device 100a that does not overlap with the overlapping region ARW may be designated as the first overlapping region ARWa. Then, the region of the overlapping region ARW that is located on the side of the overlapping region ARW of the second imaging device 100b that does not overlap with the first overlapping region ARWa may be designated as the second overlapping region ARWb.

[0084] Next, the processing flow for setting the focal position described above will be explained. Figure 11 is a flowchart illustrating the processing flow for setting the focal position in the third embodiment. As shown in Figure 11, the control unit 24 acquires information on the target area AR and designation information using the target area acquisition unit 30 (step S70), and acquires the position information of the object using the object information acquisition unit 32 (step S72). The order in which steps S70 and S72 are performed is arbitrary. The control unit 24, using the focal position control unit 34, determines whether the object is located within the overlapping area ARW based on the object's position information (step S74). If the object is located within the overlapping area ARW (step S74; Yes), the focal position control unit 34 determines whether to focus on that object based on the designation information (step S76). That is, if the designation information specifies that the focal position should be focused on an object within the overlapping area ARW, the focal position control unit 34 focuses on that object. On the other hand, if the specified information indicates that the focus position should not be set on an object within the overlapping region ARW, the focus position control unit 34 will not set the focus position on that object. If the process is not terminated thereafter (step S78; No), the process returns to step S72; if the process is terminated (step S78; Yes), this process is terminated. Also, if the object is not located within the overlapping region ARW (step S74; No), the process proceeds to step S78 without setting the focus position on that object. However, if the object is outside the overlapping region ARW but located within its own target region AR, the focus position may be set on that object regardless of the specified information.

[0085] As described above, in the third embodiment, the focus position control unit 34 of each imaging device 100 acquires designation information that specifies whether or not to focus on an object when it is located in the overlapping region ARW. When an object is located in the overlapping region ARW, the focus position control unit 34 of each imaging device 100 determines, based on the designation information, whether or not to focus on that object. In the third embodiment, since an imaging device 100 that focuses on an object located in the overlapping region ARW can be selected based on the designation information, an imaging device 100 that focuses on an object located in the overlapping region ARW can be appropriately assigned.

[0086] In the third embodiment, it is not necessary to set the first target region ARa and the second target region ARb in the same manner as in the first embodiment. The first target region ARa and the second target region ARb may be set in any manner in which at least a portion of the regions of the first target region ARa and the second target region ARb overlap.

[0087] (Fourth Embodiment) Next, the fourth embodiment will be described. The fourth embodiment differs from the first embodiment in that it focuses on an object that is located within the target area AR and satisfies predetermined conditions. Parts of the fourth embodiment that are common with the first embodiment will not be described. The fourth embodiment is also applicable to the second and third embodiments.

[0088] In the fourth embodiment, the focus position control unit 34 focuses on an object that is located within the target area AR and satisfies predetermined conditions. The focus position control unit 34 does not focus on an object that does not satisfy at least one of the conditions of being located within the target area AR and satisfying predetermined conditions. The focus position control unit 34 maintains its focus on the object for as long as the object it has focused on continues to be located within the target area AR and satisfies the predetermined conditions. On the other hand, if the object no longer satisfies at least one of the conditions of being located within the target area AR and satisfying predetermined conditions, the focus position control unit 34 defocuses from that object. That is, for example, if the object satisfies the predetermined conditions but moves outside the target area AR, or if the object is located within the target area AR but no longer satisfies the predetermined conditions, the focus position control unit 34 defocuses from that object.

[0089] The focus position control unit 34 may determine whether predetermined conditions are met by any method, for example, by determining whether predetermined conditions are met based on at least one of the object's position information and the object's image. Here, the object's position information may refer to the measurement result of the object position measuring unit 14, and the object's image may refer to image data of the object acquired by the image sensor 12.

[0090] The predetermined conditions here can be any conditions other than the object being within the target area AR. For example, the predetermined conditions may be at least one of the following: the object is performing a predetermined motion, the object has a predetermined shape, and the object is facing a predetermined direction. Alternatively, any two of these may be predetermined conditions, or all of them may be predetermined conditions. If multiple predetermined conditions are set, the focus position control unit 34 determines that the predetermined conditions are met only when all of the conditions are met.

[0091] The following describes the case where the motion of an object is subject to predetermined conditions. In this case, the focus position control unit 34 determines whether an object is performing the predetermined motion based on the position information of the object acquired continuously in a time series. The focus position control unit 34 focuses on objects that are located within the target area AR and are performing the predetermined motion. The focus position control unit 34 does not focus on objects that do not satisfy at least one of the conditions of being located within the target area AR and performing the predetermined motion. The focus position control unit 34 continues to focus on an object for the duration that the object is located within the target area AR and continues to perform the predetermined motion. On the other hand, if the object no longer satisfies at least one of the conditions of being located within the target area AR and performing the predetermined motion, the focus position control unit 34 removes the focus from that object. Note that the motion of an object here refers to the manner of movement of the object, and may refer to, for example, the direction and speed of movement of the object. For example, if a predetermined motion refers to movement in the vertical downward direction at a speed of 10 m / h or more, the focus position control unit 34 adjusts the focus position to the object moving in the vertical downward direction at a speed of 10 m / h or more within the target area AR. Note that the motion of an object is not limited to the direction and speed of movement of the object, but may refer to any manner of movement. For example, the motion of an object may refer to at least one of the direction and speed of movement of the object.

[0092] Figure 12 is a schematic diagram illustrating an example where the motion of an object is subject to predetermined conditions. In the example in Figure 12, the predetermined condition is that the object moves vertically downward (opposite to the Z direction), i.e., the direction of the object's movement. In the example in Figure 12, object A moves vertically downward from position A0a, through positions A1a and A2a to position A3a, and stops at position A3a. Position A0a is outside the target region AR, while positions A1a, A2a, and A3a are inside the target region AR. In this case, when object A is at position A0a, the focus position control unit 34 does not focus on object A because object A is outside the target region AR, but instead focuses on, for example, a set position. Then, when object A is at position A1a, i.e., when object A enters the target region AR while moving vertically downward, the focus position control unit 34 focuses on object A. The focus position control unit 34 continues to focus on object A even when object A is at position A2a, and when object A moves to position A3a and stops, it moves the focus position away from object A and returns the focus position to the set position.

[0093] Next, we will explain the case where the shape of an object is subject to predetermined conditions. In this case, the focus position control unit 34 determines whether an object has the predetermined shape based on the image data in which the object is captured. It focuses on objects that are located within the target area AR and have the predetermined shape. The focus position control unit 34 does not focus on objects that do not satisfy at least one of the conditions of being located within the target area AR and having the predetermined shape. The focus position control unit 34 continues to focus on an object as long as that object has the predetermined shape and remains located within the target area AR. On the other hand, if the object no longer satisfies at least one of the conditions of being located within the target area AR and having the predetermined shape, the focus position control unit 34 defocuses from that object. The shape of an object here may be, for example, at least one of the size of the object and the external shape of the object. For example, if the predetermined shape refers to being larger than or equal to a predetermined size, the focus position control unit 34 focuses on objects of a predetermined size or larger that are located within the target area AR. Furthermore, the 3D shape information acquired by the object information acquisition unit 32 may be used to acquire the shape information of the object.

[0094] The following describes the case where the orientation of an object is subject to predetermined conditions. In this case, the focus position control unit 34 determines whether the object is facing the predetermined direction based on the image data in which the object is captured. It focuses on objects that are located within the target area AR and facing the predetermined direction. The focus position control unit 34 does not focus on objects that do not satisfy at least one of the conditions of being located within the target area AR and facing the predetermined direction. The focus position control unit 34 continues to focus on the object for as long as the object it has focused on remains located within the target area AR while facing the predetermined direction. On the other hand, if the object no longer satisfies at least one of the conditions of being located within the target area AR and facing the predetermined direction, the focus position control unit 34 removes the focus from that object. Note that the 3D shape information acquired by the object information acquisition unit 32 may be used to acquire information on the orientation of the object.

[0095] The predetermined conditions may be set in any way, for example, they may be set in advance. In this case, the focus position control unit 34 may read information indicating the predetermined conditions (e.g., direction of movement and speed of movement) from the storage unit 22, or it may obtain the predetermined conditions from other devices via the communication unit 20. Also, for example, if the predetermined conditions are not set in advance, the focus position control unit 34 may set the predetermined conditions automatically. Also, for example, a user may set the predetermined conditions. In this case, for example, the user may input information specifying the predetermined conditions (e.g., direction of movement and speed of movement) into the input unit 16, and the focus position control unit 34 may set the predetermined conditions based on the information specified by the user.

[0096] As described above, in the fourth embodiment, the focus position control unit 34 may focus on an object that is in the target area AR and is performing a predetermined motion. The focus position control unit 34 continues to focus on the object while it is performing the predetermined motion, and when the object stops performing the predetermined motion, it moves the focus away from the object. In this way, by making the fulfillment of a predetermined motion, in addition to being in the target area AR, a condition for focusing the position, it becomes possible to track an object performing a specific movement and appropriately adjust the focus position. For example, it becomes possible to detect a fall within the target area AR.

[0097] In the fourth embodiment, the focus position control unit 34 may focus on an object that is located in the target area AR and has a predetermined shape. By making the condition for focusing the object a predetermined shape in addition to being located in the target area AR, it becomes possible to track an object of a specific shape and appropriately adjust the focus position.

[0098] In the fourth embodiment, the focus position control unit 34 may focus on an object that is located in the target area AR and facing a predetermined direction. By making it a condition for focusing that the object is facing a predetermined direction in addition to being located in the target area AR, it becomes possible to track an object facing a specific direction and appropriately adjust the focus position.

[0099] Although embodiments of the present invention have been described above, the embodiments are not limited by the content of these embodiments. Furthermore, the aforementioned components include those that can be easily imagined by those skilled in the art, those that are substantially the same, and those that are equivalent. Moreover, the aforementioned components can be combined as appropriate, and the configurations of each embodiment can be combined. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the embodiments described above. In addition, although the operation of focusing was described as a characteristic feature in each embodiment, the operation of focusing may be combined with other operations. For example, the operation of focusing may be combined with the operation of zooming in and out. Also, in the description of each embodiment, the operation of focusing may be replaced with other operations. For example, in the description of each embodiment, the operation of focusing may be replaced with the operation of zooming in and out. Furthermore, the control unit 24 of the imaging device in each embodiment may be configured to notify a predetermined recipient via the communication unit 20 when set conditions are met, such as when an object enters or leaves a predetermined target area AR, or when an object moves in a predetermined direction. The conditions set here may refer, for example, to the trigger of focusing on an object when that object moves into the target area of ​​AR. [Explanation of Symbols]

[0100] 1. Imaging System 10 Optical elements 12 Image sensor 14 Object position measurement section 30 Target Area Acquisition Unit 32 Object information acquisition unit 34 Focus Position Control Unit 100 Imaging device 100a First Imaging Device 100b Second Imaging Device AR target area AR0 imaging area ARa 1st Target Area ARb Second Target Area ARW Repeating Area

Claims

1. An imaging system having multiple imaging devices, Each of the aforementioned imaging devices is Image sensor and An object information acquisition unit that acquires positional information of an object present in the imaging area of ​​the image sensor, A target area acquisition unit sets a target area within the imaging area, which is the area surrounding the reference object including the reference object, based on the position information of the reference object acquired by the object information acquisition unit. The imaging device includes a focus position control unit that controls the focus position of the imaging device so as to focus on the object from the moment the object enters the target area until the moment it moves outside the target area. The position information of the aforementioned reference object is set automatically or by the user. The target area acquisition unit of each imaging device sets the target areas such that at least a portion of each target area overlaps with each other. Imaging system.

2. The plurality of imaging devices include at least a first imaging device and a second imaging device. The first imaging device is A region position information acquisition unit acquires region position information indicating the position of the first target region, which is the target region of the first imaging device, relative to the reference object, based on the position information of the reference object acquired by the object information acquisition unit. It has, The imaging system according to claim 1, wherein the target area acquisition unit of the second imaging device acquires the area position information from the first imaging device and sets a second target area which is the target area of ​​the second imaging device based on the area position information.

3. The imaging system according to claim 2, wherein the region position information acquisition unit of the first imaging device acquires information indicating the position of the first target region with respect to each of the three or more reference objects as region position information.

4. The imaging system according to claim 2 or 3, wherein the target area acquisition unit of the second imaging device sets the second target area based on the information of the reference object.

5. The imaging system according to any one of claims 1 to 4, wherein the focus position control unit of each imaging device acquires intrusion position information indicating the intrusion position of an object to be focused, and when the object enters the overlapping region where the target regions of each imaging device overlap from the position specified in the intrusion position information, the focus position is set to that object.

6. The imaging system according to any one of claims 1 to 5, wherein the focus position control unit of each imaging device acquires designation information that specifies whether or not to adjust the focus position when the object is located in an overlapping area where the target areas of each imaging device overlap, and when the object is located in the overlapping area, it determines whether or not to adjust the focus position to the object based on the designation information.

7. An imaging method that uses multiple imaging devices to capture images, The steps include: causing each of the aforementioned imaging devices to acquire positional information of objects present in the imaging area; For each of the imaging devices, the step of setting a target area within the imaging area, which is the area surrounding the reference object including the reference object, based on the position information of the reference object obtained in the step of obtaining the position information of the object, The steps include: controlling the focal position of each imaging device so that it focuses on the object from the moment the object enters the target area until the moment it moves outside the target area; Includes, The position information of the aforementioned reference object is set automatically or by the user. In the step of controlling the focal position, the target areas are set such that at least a portion of each of the target areas overlap. Imaging method.

8. A program that causes a computer to execute an imaging method using multiple imaging devices, The steps include: causing each of the aforementioned imaging devices to acquire positional information of objects present in the imaging area; For each of the imaging devices, the step of setting a target area within the imaging area, which is the area surrounding the reference object including the reference object, based on the position information of the reference object obtained in the step of obtaining the position information of the object, The steps include: controlling the focal position of each imaging device so that it focuses on the object from the moment the object enters the target area until the moment it moves outside the target area; The computer is made to execute the above, The position information of the aforementioned reference object is set automatically or by the user. In the step of controlling the focal position, the target areas are set such that at least a portion of each of the target areas overlap. program.

Images