Imaging device, imaging method, and program

Abstract

To take a moving image of an animal without make the animal wary.SOLUTION: A pan / tilt drive unit 21 executes a pan operation or / and a tilt operation of an imaging unit. A drive control unit controls the pan / tilt drive unit 21. A detection unit 112 detects an animal out of an image taken by the imaging unit. A determination unit 113 determines whether the animal detected by the detection unit 112 is wary of an imaging apparatus. When the determination unit 113 determines that the animal is wary of the imaging apparatus while the pan / tilt drive unit 21 executes the pan operation or the tilt operation in accordance with a motion of the animal, the drive control unit stops the pan operation or the tilt operation executed by the pan / tilt drive unit 21.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an imaging device, an imaging method, and a program for photographing animals.

Background Art

[0002] For ecological surveys and research of wild animals, animals may be detected from images captured by a camera, and while driving a pan-tilt unit in accordance with the movement of the detected animals to change the shooting direction, the animals may be photographed.

[0003] Patent Document 1 discloses a device for detecting and photographing wild animals.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Since the pan-tilt unit is driven by a motor, during the pan operation or tilt operation, animals may notice the driving sound of the motor and become wary.

[0006] This embodiment has been made in view of such a situation, and its purpose is to provide a technique for photographing animals without giving them a sense of alertness.

Means for Solving the Problems

[0007] To solve the above problems, an imaging device in one embodiment of this model includes an imaging unit, a pan / tilt drive unit that performs at least one of the panning or tilting movements of the imaging unit, a drive control unit that controls the pan / tilt drive unit, a detection unit that detects animals from the image captured by the imaging unit, and a determination unit that determines whether or not the animal detected by the detection unit is wary of the imaging device. The drive control unit stops the panning or tilting movement by the pan / tilt drive unit when the pan / tilt drive unit is performing the panning or tilting movement in response to the movement of the animal, if the determination unit determines that the animal is wary of the imaging device.

[0008] Another aspect of this embodiment is an imaging method. This method includes the steps of: detecting an animal from an image captured by the imaging unit; determining whether the detected animal is wary of the imaging device comprising the imaging unit; and, if it is determined that the animal is wary of the imaging device, stopping the panning or tilting operation of the imaging unit by the pan / tilt drive unit.

[0009] Furthermore, any combination of the above components, as well as conversions of the expressions of this embodiment between methods, apparatus, systems, recording media, computer programs, etc., are also valid as embodiments of this embodiment. [Effects of the Invention]

[0010] According to this embodiment, it is possible to film animals on video without alarming them. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example of the configuration of the imaging device according to Embodiment 1. [Figure 2] This diagram shows the specific configuration of the imaging unit and pan-tilt stand according to Embodiment 1. [Figure 3] This figure shows an example of the configuration of the control unit of the imaging unit according to Embodiment 1. [Figure 4]This diagram illustrates a specific example of animal face orientation detection. [Figure 5] This is a flowchart illustrating an example of operation 1 of the imaging device according to Embodiment 1. [Figure 6] This is a flowchart illustrating an example of operation 2 of the imaging device according to Embodiment 1. [Figure 7] This diagram shows the specific configuration of the imaging unit and pan-tilt table according to Embodiment 2. [Figure 8] This figure shows an example of the configuration of the control unit of the imaging unit according to Embodiment 2. [Figure 9] This is a flowchart illustrating example 1 of the operation of the imaging device according to Embodiment 2. [Figure 10] This is a flowchart illustrating an example of operation 2 of the imaging device according to Embodiment 2. [Figure 11] This is a flowchart illustrating example 3 of the operation of the imaging device according to Embodiment 2. [Modes for carrying out the invention]

[0012] (Embodiment 1) Figure 1 shows an example of the configuration of an imaging device 1 according to Embodiment 1. In the example shown in Figure 1, a pan-tilt base 20 is attached to the base of a tripod 40, and an imaging unit 10 is fixed on the pan-tilt base 20. The pan-tilt base 20 has an electric motor and can pan the fixed imaging unit 10 by rotating it horizontally. In addition, the pan-tilt base 20 can tilt the fixed imaging unit 10 by rotating it vertically within a range of 180°. A lens unit 30 is attached to the imaging unit 10.

[0013] FIG. 2 is a diagram showing a specific configuration of the imaging unit 10 and the pan-tilt base 20 according to Embodiment 1. The pan-tilt base 20 includes a stepping motor or a servo motor (not shown) for rotating the pan-tilt base 20 in the horizontal direction, a stepping motor or a servo motor (not shown) for rotating the pan-tilt base 20 in the vertical direction, and a pan-tilt drive unit 21 for driving each of the horizontal-direction motor and the vertical-direction motor. The pan-tilt drive unit 21 controls the current flowing through each of the horizontal-direction motor and the vertical-direction motor based on a control signal supplied from the control unit 11 of the imaging unit 10, and controls the movement and stop position of the pan-tilt base 20 in the pan direction and the movement and stop position in the tilt direction. That is, the pan-tilt drive unit 21 performs at least one of the pan operation or the tilt operation of the imaging unit 10.

[0014] The imaging unit 10 includes a control unit 11, an imaging sensor 12, and a lens drive unit 13. The imaging unit 10 may be any of a visible light camera, a near-infrared camera, and a far-infrared camera. Hereinafter, in Embodiment 1, a visible light camera is considered as an example. The lens unit 30 has a variable zoom lens that switches the focal length of the imaging sensor 12. The lens drive unit 13 can switch the angle of view to the wide-angle side by moving the zoom lens closer to the imaging sensor 12, and can switch the angle of view to the narrow-angle side by moving the zoom lens away from the imaging sensor 12. That is, the lens drive unit 13 adjusts the focal length of the imaging sensor 12.

[0015] A CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge Coupled Devices) image sensor can be used for the imaging sensor 12. The imaging sensor 12 converts the light incident through the lens unit 30 into an electrical video signal. The imaging sensor 12 captures a moving image at a frame rate of 30 Hz or 60 Hz and outputs it to the control unit 11.

[0016] FIG. 3 is a diagram showing a configuration example of the control unit 11 of the imaging unit 10 according to Embodiment 1. The control unit 11 includes an image processing unit 111, a detection unit 112, a determination unit 113, a pan-tilt drive control unit 114, and a lens drive control unit 115. These components can be realized by the cooperation of hardware resources and software resources, or only by hardware resources. As hardware resources, a CPU, ROM, RAM, GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and other LSIs can be used. As software resources, programs such as firmware can be used.

[0017] The image processing unit 111 performs various image processes such as gradation correction and contour correction on the video signal input from the imaging sensor 12 and outputs the processed signal.

[0018] The detection unit 112 includes a detector for detecting an animal to be observed. The detector is generated, for example, for each of the whole body, face, and facial parts (left eye, right eye, mouth, left ear, right ear, etc.) of the animal to be observed and is held as dictionary data. Each detector is generated by learning the feature amounts of the whole body, face, and facial parts of the animal included in a large number of images in which the animal to be observed appears. The whole body, face, and facial parts of the animal in the image are framed by an annotation tool before learning. As the feature amounts, for example, HOG (Histograms of Oriented Gradients), Haar-like, LBP (Local Binary Patterns), etc. can be used.

[0019] The detection unit 112 searches within each frame image of the input video using its respective detectors. When the detection unit 112 detects an animal to be observed within a frame image, it tracks the detected animal in subsequent frame images. For tracking animals, for example, a particle filter or the mean shift method can be used. In the tracking process of the detected animal, the detection unit 112 can detect the motion vector of the animal. If there are multiple animals to be observed within a frame image, the detection unit 112 selects the animal with the shortest distance from the imaging unit 10 as the subject. The detection unit 112 can detect which direction the animal's face is facing based on the positional relationship of the animal's facial features.

[0020] Figure 4 is a diagram illustrating a specific example of the process for detecting the orientation of an animal's face. Within the frame image FR1, the entire body B1 and face F1 of a fox FO are detected. Furthermore, the facial features EY1 (left eye), EY2 (right eye), M1 (mouth), E1 (left ear), and E2 (right ear) are detected. The detection unit 112 determines the orientation of the animal's face relative to the imaging unit 10 based on an inverted triangle with the vertices of the left eye EY1, the right eye EY2, and the mouth M1. For example, if the inverted triangle can be considered symmetrical, the detection unit 112 determines that the animal is facing forward relative to the imaging unit 10.

[0021] Returning to Figure 3, the determination unit 113 determines whether the animal detected by the detection unit 112 is wary of the imaging device 1. The pan-tilt drive control unit 114 controls the pan-tilt drive unit 21 to perform a pan or tilt operation according to the movement of the animal detected by the detection unit 112. Hereinafter, the pan-tilt drive control unit 114 may be referred to as the drive control unit.

[0022] If an animal being tracked enters an edge region set within the frame image, and the animal is moving out of the field of view, the pan-tilt drive control unit 114 supplies a control signal to the pan-tilt drive unit 21 to rotate the pan-tilt base 20 horizontally or vertically at a speed corresponding to the animal's movement speed. For example, if an animal being tracked enters the rightmost edge region set within the frame image, and the animal is moving to the right of the field of view, the pan-tilt drive control unit 114 supplies a control signal to the pan-tilt drive unit 21 to rotate the pan-tilt base 20 to the right at a speed corresponding to the animal's movement speed.

[0023] Furthermore, if the animal being tracked is located in the central region set within the frame image, or if the animal being tracked enters the frame but does not move in a direction that moves it out of the field of view, the pan-tilt drive control unit 114 will not activate pan-tilt control.

[0024] If the pan-tilt drive control unit 114 determines, during pan-tilt control, that the tracking animal is wary of the imaging device 1, the determination unit 113 determines that the pan-tilt drive control unit 1 is alerting the animal and supplies a control signal to the pan-tilt drive unit 21 to stop the pan or tilt operation.

[0025] In the basic state, the lens drive control unit 115 controls the lens drive unit 13 to narrow the zoom lens so that the animal subject is captured in a large image. If the judgment unit 113 determines that the animal being tracked is wary of the imaging device 1, the lens drive control unit 115 supplies a control signal to the lens drive unit 13 to switch the zoom lens to the wide-angle side.

[0026] Figure 5 is a flowchart illustrating an example of operation 1 of the imaging device 1 according to Embodiment 1. The image captured by the imaging sensor 12 is input to the control unit 11 (step S10). The image processing unit 111 of the control unit 11 performs predetermined image processing on the input image. If imaging is to be continued (Yes in step S11), the process proceeds to step S12. If imaging is to be terminated (No in step S11), the entire process ends.

[0027] The detection unit 112 searches for the animal to be observed within the frame image using a detector (step S12). If the animal to be observed cannot be detected (No in step S12), the system proceeds to step S10. If the animal to be observed can be detected (Yes in step S12), the detection unit 112 tracks the animal to be observed (step S13).

[0028] The determination unit 113 predicts whether the animal being tracked will go out of the field of view (step S14). Here, the field of view is the angle that indicates the imaging range of the imaging unit 10. For example, the determination unit 113 predicts that the animal being tracked will go out of the field of view when the animal being tracked, which is moving from any position within the field of view toward the edge of the screen, approaches a certain distance or less from the edge of the screen. For example, the determination unit 113 predicts that the animal being tracked will not go out of the field of view when the animal has stopped moving. Step S14 may be omitted, in which case step S15 will be executed after the processing in step S13.

[0029] If it is predicted that the animal will not go out of the field of view (No in step S14), the process proceeds to step S10. If it is predicted that the animal will go out of the field of view (Yes in step S14), the determination unit 113 determines whether or not the animal being tracked has performed a warning action (step S15).

[0030] In this specification, an animal's alert behavior is defined as a behavior that satisfies at least one of the following conditions (1) to (3). (1) When an animal that was moving out of the field of view stops moving. When an animal notices the presence of the imaging device 1, it may suddenly stop moving. (2) When the animal's face is facing the direction of the imaging device 1 (when it is facing directly towards the imaging unit 10). The action of facing the direction of the imaging device 1 which is generating sound can be considered a sure sign of the animal's alertness. (3) When both of an animal's ears are erect. The gesture of an animal erecting its ears is known to indicate a state of alertness. The gesture of an animal erecting its ears can be detected by preparing a detector for the left ear when it is erect, and a detector for the right ear when it is erect. (4) When an animal's head, which had been lowered to ground level, suddenly rises upward. When an animal that has lowered its head to eat grass or other things on the ground suddenly raises its head, it can be considered a warning sign.

[0031] If no alert behavior is detected in the animal being tracked (No in step S15), the system proceeds to step S16. If the pan-tilt drive control unit 114 is not controlling the pan-tilt platform 20 (No in step S16), the pan-tilt drive control unit 114 starts pan-tilt control in order to keep the animal being tracked within the field of view as much as possible (step S17). The system then proceeds to step S10. If the pan-tilt drive control unit 114 is controlling the pan-tilt platform 20 (Yes in step S16), the pan-tilt drive control unit 114 continues pan-tilt control (step S18).

[0032] The determination unit 113 determines whether the animal being tracked is stably within the field of view (step S19). For example, the determination unit 113 determines that the animal being tracked is stably within the field of view if it is located in the central region of the field of view, or if the animal being tracked has stopped moving.

[0033] If the animal being tracked is not stably within the field of view (No in step S19), the system proceeds to step S10. If the animal being tracked is stably within the field of view (Yes in step S19), the pan-tilt drive control unit 114 stops pan-tilt control (step S110). The system then proceeds to step S10. In step S15, if alert behavior is detected in the animal being tracked (Yes in step S15), the pan-tilt drive control unit 114 also stops pan-tilt control (step S110). The system then proceeds to step S10. In other words, while the animal being tracked is judged to be alert to the imaging device 1, the pan-tilt drive control unit 114 does not perform pan-tilt control. Pan-tilt control is performed after the animal being tracked is no longer judged to be alert to the imaging device 1.

[0034] Figure 6 is a flowchart illustrating Operation Example 2 of the Imaging Device 1 according to Embodiment 1. The flowchart for Operation Example 2 of Embodiment 1 is the flowchart for Operation Example 1 of Embodiment 1 shown in Figure 5 with the addition of steps S151 and S152. The differences from the flowchart for Operation Example 1 of Embodiment 1 shown in Figure 5 will be explained below.

[0035] In step S15, if no alarm behavior is detected in the animal being tracked (No in step S15), the lens drive control unit 115 controls the zoom lens to the narrow-angle side so that the animal is captured larger in the image (S151). If alarm behavior is detected in the animal being tracked (Yes in step S15), the lens drive control unit 115 controls the zoom lens to the wide-angle side so that the animal remains within the field of view even if the pan-tilt control is stopped (S152).

[0036] In other words, during pan-tilt operation, the orientation of the imaging unit 10 follows the movement of the animal, so it zooms in to capture the tracking animal as large as possible. On the other hand, when the pan-tilt operation is stopped, the orientation of the imaging unit 10 does not follow the movement of the animal, so it zooms out to capture a wide-angle image. Other processing is the same as the flowchart shown in Figure 5.

[0037] As described above, according to Embodiment 1, by immediately stopping the pan-tilt operation when an animal becomes alert, it is possible to film the animal's behavior without alerting the animal as much as possible. Furthermore, by switching the zoom lens to wide-angle until the animal's alert behavior subsides, tracking and behavioral observation of the animal can be continued.

[0038] (Embodiment 2) Figure 7 shows the specific configuration of the imaging unit 10 and pan-tilt table 20 according to Embodiment 2. The differences from the imaging unit 10 according to Embodiment 1 will be explained below. In Embodiment 2, a far-infrared camera is used as the imaging unit 10. A far-infrared camera is a camera that can capture infrared light emitted by a subject without irradiating the subject with infrared light. The imaging unit 10 according to Embodiment 2 further includes a shutter drive unit 14.

[0039] For example, a microbolometer is used as the imaging sensor 12 of the far-infrared camera. A microbolometer is an uncooled thermal detection element and includes a Focal Plane Array (FPA) in which multiple bolometers are arranged in a two-dimensional grid (e.g., 640 × 480, 1024 × 768). Each bolometer constituting a pixel has an absorption layer made of amorphous silicon or vanadium oxide. When far-infrared rays are incident on the absorption layer, the temperature of the absorption layer changes, and the resistance value of the absorption layer changes. By applying a predetermined voltage between two electrodes in the absorption layer, the change in the resistance value of the absorption layer is detected as a change in the current value. The current value of each bolometer is converted into a voltage and output as a brightness signal for each pixel. The imaging sensor 12 outputs an infrared thermal image composed of the brightness signals of multiple pixels arranged in a two-dimensional grid to the control unit 11.

[0040] Although not shown in the diagram, a temperature sensor (e.g., a thermistor) is installed near the microbolometer, and the temperature near the microbolometer measured by the temperature sensor is output to the control unit 11.

[0041] In Embodiment 2, the shutter 31 is installed on the optical path of the infrared light focused by the image sensor 12. In Figure 7, the shutter 31 is installed at the tip of the lens unit 30, but it can be installed at any position on the optical path of the infrared light focused by the image sensor 12, and may be installed inside the lens unit 30 or between the lens unit 30 and the image sensor 12. The shutter drive unit 14 drives the opening and closing of the shutter 31 based on the control signal supplied from the control unit 11. The shutter 31 is a mechanical shutter and generates a relatively loud operating noise when opening and closing.

[0042] Figure 8 shows an example of the configuration of the control unit 11 of the imaging unit 10 according to Embodiment 2. In Embodiment 2, a calibration unit 116 and a shutter drive control unit 117 are added to the configuration of the control unit 11 shown in Embodiment 1. Hereinafter, the shutter drive control unit 117 may be referred to as the drive control unit.

[0043] The calibration unit 116 calibrates the offset variations of the signals output by each bolometer that constitutes each pixel. The back surface of the shutter 31 is a temperature-uniform surface. That is, the back surface of the shutter 31 can be imaged as a temperature-uniform surface even when the ambient temperature changes. The calibration unit 116 creates a pixel variation correction table by having the image sensor 12 image the back surface of the shutter 31 while the shutter 31 is closed. Generally, the shutter 31 needs to be closed for slightly less than one second in order to acquire correction data for the calibration of the image sensor 12. The calibration unit 116 refers to the correction table and adjusts the offset of each pixel in the input image to correct it into a flat image.

[0044] The shutter drive control unit 117 causes the shutter drive unit 14 to perform a closing operation of the shutter 31 in order to perform calibration of the image sensor 12, according to predetermined calibration conditions. The output characteristics of the bolometers constituting the image sensor 12 change moment by moment due to environmental factors such as temperature. In this embodiment, at least one of the following is adopted as a predetermined calibration condition: a certain amount of time (for example, 2 minutes) has elapsed since the previous calibration, and the temperature of the image sensor 12 has changed by a certain amount (for example, 0.5 degrees) or more from the temperature at the time of the previous calibration.

[0045] If the determination unit 113 determines that the animal being tracked is wary of the imaging device 1, the shutter drive control unit 117 supplies a control signal to the shutter drive unit 14 to suspend the opening and closing operation of the shutter 31 for performing calibration of the imaging sensor 12. In other words, while it is determined that the animal being tracked is wary of the imaging device 1, the shutter calibration of the imaging sensor 12 is suspended.

[0046] Figure 9 is a flowchart illustrating an example of operation 1 of the imaging device 1 according to Embodiment 2. The infrared image captured by the imaging sensor 12 is input to the control unit 11 (step S20). The image processing unit 111 of the control unit 11 performs predetermined image processing on the input infrared image. If imaging is to be continued (Yes in step S21), the process proceeds to step S22. If imaging is to be terminated (No in step S21), the entire process ends.

[0047] The detection unit 112 searches for the animal to be observed within the frame image using a detector (step S22). If the animal to be observed cannot be detected (No in step S22), the calibration unit 116 determines whether the predetermined calibration conditions have been met (step S23). If the predetermined calibration conditions have not been met (No in step S23), the process proceeds to step S20. If the predetermined calibration conditions have been met (Yes in step S23), the calibration unit 116 instructs the shutter drive control unit 117 to close the shutter 31 and performs shutter calibration (step S24). The image processing unit 111 does not need to output the image captured during shutter calibration to the detection unit 112. This is because the shutter 31 is closed during shutter calibration, making it impossible to detect animals from the image. After shutter calibration is performed, the calibration unit 116 instructs the shutter drive control unit 117 to open the shutter 31 and proceeds to step S20.

[0048] In step S22, if the animal to be observed is detected (Yes in step S22), the detection unit 112 tracks the animal to be observed (step S25). The calibration unit 116 determines whether or not the predetermined calibration conditions are met (step S27). If the predetermined calibration conditions are not met (No in step S27), the process proceeds to step S20.

[0049] If the predetermined calibration conditions are met (Yes in step S27), the determination unit 113 determines whether or not the animal being tracked has performed a warning action (step S28). If a warning action is detected in the animal being tracked (Yes in step S28), the process proceeds to step S20. If no warning action is detected in the animal being tracked (No in step S28), the calibration unit 116 instructs the shutter drive control unit 117 to close the shutter 31 and performs shutter calibration (step S29). After the shutter calibration is performed, the calibration unit 116 instructs the shutter drive control unit 117 to open the shutter 31 and proceeds to step S20.

[0050] If the calibration execution condition is that a certain amount of time has elapsed since the previous calibration execution time, in step S29, the previous calibration execution time is updated to the current time. Also, in the flow that goes through Yes in step S28, the shutter calibration is suspended, so it is not necessary to update the previous calibration execution time. In other words, in step S27, after the judgment unit 113 has determined that the animal being tracked has performed a warning action (Yes in step S28), the shutter drive control unit 117 has satisfied the execution condition because a certain amount of time has elapsed since the previous calibration execution time (Yes in step S27). Therefore, when the predetermined calibration execution condition is satisfied (Yes in step S27) and the judgment unit 113 has determined that the animal being tracked has not performed a warning action (No in step S28), the shutter drive control unit 117 releases the suspension of shutter calibration and performs shutter calibration (step S29).

[0051] Figure 10 is a flowchart illustrating Operation Example 2 of the Imaging Device 1 according to Embodiment 2. The processing from step S20 to step S25 is the same as the flowchart for Operation Example 1 of Embodiment 2 shown in Figure 9.

[0052] The determination unit 113 predicts whether the animal being tracked will go out of the field of view (step S26). If it is predicted that the animal will not go out of the field of view (No in step S26), the processes in steps S27 to S29 of the flowchart shown in Figure 9 are executed. After the processes are executed, the system proceeds to step S20. If it is predicted that the animal being tracked will go out of the field of view (Yes in step S26), the processes in steps S15 to S110 of the flowchart shown in Figure 5 are executed. After the processes are executed, the system proceeds to step S20.

[0053] In the operation example 2 shown in Figure 10, shutter calibration is paused both when the animal being tracked exhibits alert behavior and during pan-tilt operation. However, if the camera model ensures shutter calibration accuracy even when the imaging unit 10 is moving, it may be possible to have a specification that performs shutter calibration even during pan-tilt operation, as long as the animal being tracked is not exhibiting alert behavior.

[0054] Figure 11 is a flowchart illustrating Operation Example 3 of the imaging device 1 according to Embodiment 2. The flowchart for Operation Example 3 of Embodiment 3 is modified so that the process executed when it is predicted that the animal being tracked will go out of the field of view (Yes in step S26) in step S26 of the flowchart for Operation Example 2 of Embodiment 2 shown in Figure 10 is replaced with the processes of steps S15 to S110, S151, and S152 of the flowchart shown in Figure 6. In other words, a process has been added to capture images at a narrow angle during pan-tilt operation and at a wide angle when pan-tilt operation is stopped.

[0055] As described above, according to Embodiment 2, by pausing shutter calibration when an animal becomes alert, it is possible to film the animal's behavior without alerting the animal as much as possible. By performing shutter calibration when the animal is not in the frame, or when the animal is in the frame but has stopped being alert, it is possible to continue observing the animal's behavior without alerting the animal. In addition, it is possible to prevent frame drops in the video footage during the section in which the animal is being filmed while it is alert, thereby ensuring the quality of the footage for the behavioral observation.

[0056] The present invention has been described above based on embodiments. These embodiments are illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of these components and processing processes, and that such modifications also fall within the scope of the present invention.

[0057] In the above-described embodiment, an example was explained in which a pan-tilt stand 20 capable of both panning and tilting movements is used. However, instead of the pan-tilt stand 20, a pan stand capable of only panning movements, or a tilt stand capable of only tilting movements, may be used. For example, if the animal being observed is in a cage and its range of movement is restricted, only one of the pan stand or the tilt stand may be used.

[0058] Furthermore, the imaging device 1 according to this embodiment may consist of a PTZ camera mounted on the ceiling, wall, pole, etc., without using a tripod 40. A PTZ camera is a camera equipped with a PTZ (Pan-Tilt-Zoom) mechanism that changes the orientation of the camera and the zoom magnification of the camera.

[0059] In Embodiment 2, the pan-tilt stand 20 may be omitted. That is, an infrared camera with a fixed field of view may be used in the imaging unit 10 according to Embodiment 2. Also, in Embodiment 2, if the animal to be observed does not react to infrared irradiation, a near-infrared camera may be used.

[0060] [Item 1] Imaging unit, A detection unit that detects animals from the image captured by the imaging unit, A determination unit that determines whether the animal detected by the detection unit is wary of the imaging device, Equipped with, If the determination unit determines that the animal is wary of the imaging device, it will suspend the operation that generates the operating sound. Imaging device. [Explanation of symbols]

[0061] 1 Imaging device, 10 Imaging unit, 11 Control unit, 111 Image processing unit, 112 Detection unit, 113 Judgment unit, 114 Pan-tilt drive control unit, 115 Lens drive control unit, 116 Calibration unit, 117 Shutter drive control unit, 12 Imaging sensor, 13 Lens drive unit, 14 Shutter drive unit, 20 Pan-tilt base, 21 Pan-tilt drive unit, 30 Lens unit, 31 Shutter, 40 Tripod.

Claims

1. Imaging unit, A pan / tilt drive unit that performs at least one of the panning or tilting movements of the imaging unit, A drive control unit that controls the pan / tilt drive unit, A detection unit that detects animals from the image captured by the imaging unit, A determination unit that determines whether the animal detected by the detection unit is wary of the imaging device, Equipped with, The drive control unit, when the pan / tilt drive unit is performing a panning or tilting motion in response to the animal's movement, and the determination unit determines that the animal is wary of the imaging device, stops the panning or tilting motion performed by the pan / tilt drive unit. Imaging device.

2. It further includes a lens drive unit that drives a zoom lens to adjust the focal length of the image sensor, When the determination unit determines that the animal is wary of the imaging device, the drive control unit causes the lens drive unit to control the zoom lens to the wide-angle side. The imaging apparatus according to claim 1.

3. The detection unit detects the whole and parts of the animal from the image captured by the imaging unit. The determination unit determines that the animal is wary of the imaging device if it detects at least one of the following: the moving animal has stopped moving, the animal is facing the imaging device, the animal's ears are erect, and the animal's head is raised. The imaging apparatus according to claim 1 or 2.

4. The steps include detecting an animal from the image captured by the imaging unit, The steps include determining whether the detected animal is wary of the imaging device equipped with the imaging unit, If it is determined that the animal is wary of the imaging device, the pan / tilt drive unit stops the panning or tilting motion of the imaging unit. A sharp imaging method.

5. The process involves detecting animals from the images captured by the imaging unit, A process to determine whether the detected animal is wary of the imaging device equipped with the imaging unit, If it is determined that the animal is wary of the imaging device, the pan / tilt drive unit will stop the panning or tilting of the imaging unit. A program that causes a computer to execute something.

Images