JP3735533B2 - Moving body detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving body detection apparatus that forms a three-dimensional space around an imaging position as a ring image (including a circular image), detects a moving body from an image, and displays an enlarged display.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there is a moving object detection apparatus using a panoramic image block that is set so that an entire annular image is formed on a target such as an image sensor and displays a marking for tracking the moving object.
[0003]
[Problems to be solved by the invention]
However, the annular image by the panoramic image block can acquire a wide-angle image, so that the number of pixels at the target used per unit area of the entity contained in the acquired image is limited. Even in the case where it is desired to enlarge and display the vicinity of the marking in the moving body detection apparatus, only a very rough and unclear image can be obtained by simple computer image processing. For example, even when an imaging device having 600,000 to 2 million pixels is used as the target, the area used around the detected object to be tracked is at most about 1/9 of the total number of pixels. It is difficult to display a clear image on a receiver of 6 inches or more with such a resolution.
[0004]
In addition, the imaging target image is connected to a device that detects a moving body from the annular image, guides the direction around the detected object, and performs tracking imaging with another zoom camera, or a panoramic image block that captures the imaging target image in the imaging unit. Japanese Patent Application Laid-Open No. 2000-221621 comprising an image pickup device that is connected, a zoom unit that changes the size of a target image to be connected to the image pickup device, and a moving table that shifts the image pickup device in a direction perpendicular to the optical axis However, there is a problem that system costs such as the cost of another camera and the cost of a moving table increase.
[0005]
The present invention has been made in view of such a situation, and can display a tracking image of a moving object in a wide-angle region around an imaging position with a clear enlarged image only by an imaging apparatus using a panoramic image block. An object of the present invention is to provide an inexpensive mobile object detection device.
[0006]
[Means for Solving the Problems]
In order to solve the above problems, a moving body detection apparatus according to the present invention includes a panoramic image block that captures a shooting target image into an imaging unit, and an imaging element that connects the entire shooting target image. However, it is characterized by comprising a plurality of partial image pickup element groups having the number of pixels of the enlarged output specification to which the image to be photographed is partially connected.
[0007]
The panoramic image block includes a front light-shielding surface a at the front center, a front light-transmitting surface b at the front peripheral edge, a rear light-shielding surface c at the rear peripheral edge, and a rear light-transmitting surface d at the rear central part. The rear light shielding surface c is a reflecting mirror that can collect incident light from the front light transmitting surface b through the rotating body and gather on the front light shielding surface a. The surface a includes not only a reflecting mirror that can collect the reflected light from the rear light-shielding surface c through the rotating body and the rear light-transmitting surface d, but also a lighting block that combines a plurality of fisheye lenses and reflecting mirrors. In addition, the optical block generally refers to an optical block that can form a three-dimensional space around the imaging position as an annular image having 360 degrees around. Further, the number of pixels of the enlarged output specification refers to the minimum resolution required when outputting the entire image to be photographed in a predetermined size according to the application, and enlarges the divided image of the divided image sensor unit to the predetermined size. This means that the number of pixels is satisfactory when output.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of a moving body detection apparatus according to the present invention will be described below with reference to the drawings.
As shown in FIG. 3, the example introduced here is composed of an imaging unit including an image introduction unit 2 and an image collection unit 3, an image processing unit 4, and an image output unit 5.
[0009]
In this example, the image introducing unit 2 includes a panoramic image block 1 and a zoom mechanism 6 located at the subsequent stage of the panoramic image block 1 as shown in FIG. The zoom mechanism 6 can move the lens (uneven lens or aspheric lens) group 7 to the rear translucent surface d of the panoramic image block 1 and appropriately move in the direction of the optical axis e of the panoramic image block 1. It arrange | positions so that it may become.
[0010]
The zoom mechanism 6 may have a structure in which the lens groups 7 can be moved mechanically, or may have a structure in which the lens group 7 is moved manually (by hand). As a means for mechanically moving the lens groups 7 to each other, for example, a plurality of lenses constituting the zoom mechanism are fixed to a plurality of support members connected to each other, and the plurality of lenses are zoomed using an appropriate actuator. A means for moving is mentioned (for details, refer to JP 2000-221621 A). In order to use such an actuator, it is necessary to provide a control means for adjusting the amount of displacement by the actuator. For the control means, an existing control technique using the CPU 8 or the like may be used.
[0011]
The image acquisition unit 3 is an image pickup element (hereinafter referred to as a CCD 9) 9 that receives light incident through the image introduction unit 2, and an A / D that converts the image signal output from the CCD 9 into digital data. A conversion means 10 such as a D converter, an image storage means 11 for storing the digital data, and a CPU 8 capable of controlling and managing the CCD 9 and the image storage means 11 are provided. As shown in FIG. 1 and FIG. 2, the CCD 9 is composed of a plurality of (9 in this example) CCDs 9 arranged vertically and horizontally as a partial image pickup device group, and each CCD 9 as a partial image pickup device is independent for image processing. Treated as a partial image sensor.
[0012]
As a result, the collection of the image signal from the CCD 9 and the digitization and storage of the image signal are performed by dividing nine partial images into nine areas (a single element or a plurality of elements) in the image storage means 11 as shown in FIG. In the conventional configuration, the image signal from the CCD 9 must be collected and the digital data of the image signal must be stored as a single image. Compared to this, a lot of image data can be collected in a short time.
[0013]
The image processing unit 4 includes a CPU 8 and an image storage unit 11 that can perform computation / processing on digital data (hereinafter referred to as image data) stored in the image storage unit 11. The image processing unit 4 performs various processes on the image captured by the image capturing unit 3. The main processes include detection of a moving object, display of a marker for tracking the moving object, and image Editing etc.
[0014]
As shown in FIG. 2, the image storage means 11 includes a reference image storage area for storing reference image data, an updated image storage area for storing newly acquired image data, reference image data, and newly acquired image data. The difference image storage area for storing the difference data is provided for each of the partial imaging elements, and further, there is a display image storage area for temporarily storing output data for one frame to be displayed on the image output unit 5. Provided.
[0015]
Detection of the moving body is performed by comparison of image data collected based on the configuration of the image storage means 11 over time. That is, the difference data between the reference image data and the newly acquired image data at a fixed time interval is detected every frame, and a new change portion of the difference data in the difference image storage area is detected by the presence of the moving object. A method of deriving the coordinates of an object that has been recognized as a location and moved during the one frame can be cited as one mode.
[0016]
Conventionally, since such processing is performed using a single CCD, the comparison speed between the reference image data and the newly acquired image data often depends on the processing speed of the control circuit such as a CPU. As described above, By configuring the image sensor with a plurality of (9 in this example) CCDs 9 aligned vertically and horizontally, each CCD 9 can be easily handled as an independent partial image sensor, and a sampling circuit is provided for each CCD 9 as a partial image sensor. By adopting the circuit configuration provided and the circuit configuration provided with a comparison circuit for each image storage area corresponding to each CCD, batch sampling or batch comparison by parallel processing of all partial images, or selective sampling of only necessary partial images Even if a relatively low-capacity CPU or A / D converter is used, image samples can be compared. Grayed and comparison also becomes possible to perform easily only in a relatively short time.
[0017]
The marker is displayed by inserting the marker data into the update image data stored in the update image storage area in order to display a predetermined marker in a form indicating the coordinates thus derived (see FIGS. 4 to 8). Then, edit processing such as development and connection is appropriately performed to form display image data in which the position of the moving object is clearly indicated by a marker.
[0018]
The image output unit 5 comprises means for receiving the display image data and forming an image, and specifically includes various display devices and printers. In editing the image displayed on the image output unit 5, the partial image data collected by each CCD 9 is expanded and converted into extended image data for enlarged display, and the extended image data to be displayed in one frame is appropriately connected. The process of saving in the display image storage area is performed. The connection of the partial image data has a strong interest to make it easy to understand the movement and positional relationship of the moving body, and the partial image data of the area existing before and after the movement is connected in accordance with the arrangement of the CCD 9 as the collection source.
[0019]
As a result, when the whole image as shown in FIG. 4 becomes a partial image (see FIG. 5) in which only the existing area of the moving object is enlarged, or when it moves to the adjacent area, the movement destination is moved from the movement source to the movement destination. Or an enlarged image obtained by connecting a plurality of areas (see FIG. 7 and FIG. 8) composed of an existing area and a movement estimation area and displayed on the image output unit 5. . When connection is not necessary, a single extended image data may be stored in the display image storage area as output data for displaying in one frame.
[0020]
Note that the above description shows one configuration example of the image storage unit 11, and it is needless to say that the image storage unit 11 can be appropriately changed according to the mode of processing. Even in a control circuit such as a CPU used for mechanism control such as a zoom mechanism in the image introduction unit, sampling control in the image sampling unit, image processing control in the image processing unit, or data output control in the image output unit, It may be configured as such, or may be used together with a shared (see FIG. 3) or other independent control circuit.
[0021]
【The invention's effect】
According to the moving body detection apparatus configured as described above, the imaging element to which the entire imaging target image is connected has a plurality of partial imaging elements having an enlarged output specification pixel number to which the imaging target image is partially connected. With the configuration composed of groups, it is possible to display a tracking image of a moving body in a wide-angle region around the imaging position with a clear enlarged image only with an imaging device using a panoramic image block. In addition, the same structure not only makes it easy to adopt a method of performing batch parallel processing of images connected to each divided image sensor, but also enables division processing of only the area allocated to each divided image sensor, Even if a relatively low-level CPU is used, processing can be performed in a shorter time than before.
[0022]
In addition, it is not necessary to provide a zoom camera for detecting a moving body from the annular image and separately taking a magnified image, or a moving table for shifting the image sensor in a direction perpendicular to the optical axis. Combined with the effect that the CPU can be easily selected, the problem that the system cost increases is also solved.
[Brief description of the drawings]
FIG. 1 is a schematic explanatory diagram illustrating an example of an image acquisition situation by an imaging unit of a mobile object detection device according to the present invention.
FIG. 2 is a schematic explanatory diagram illustrating a configuration example of an image collection unit in the moving object detection device according to the invention.
FIG. 3 is a block diagram showing a configuration example of a moving object detection device according to the present invention.
FIG. 4 is an explanatory view showing a display example by the moving object detection device according to the present invention.
FIG. 5 is an explanatory diagram showing a display example by the moving object detection device according to the present invention.
FIG. 6 is an explanatory diagram showing a display example by the moving object detection device according to the present invention.
FIG. 7 is an explanatory diagram showing a display example by the moving object detection device according to the present invention.
FIG. 8 is an explanatory diagram showing a display example by the moving object detection device according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Panorama image block 2 Image introduction part 3 Image collection part 4 Image processing part 5 Image output part 6 Zoom mechanism 7 Lens group 8 CPU
9 CCD (imaging device)
DESCRIPTION OF SYMBOLS 10 Conversion means 11 Image storage means a Front light-shielding surface b Front light-transmitting surface c Rear light-shielding surface d Rear light-transmitting surface e Optical axis

Claims (2)

An image introducing unit (2) having a panoramic image block (1) for capturing a photographic target image in the imaging unit, an imaging element connecting the entire photographic target image, and an image signal output from the imaging element as digital data An image capturing unit (3) including a conversion unit (10) for performing the processing and an image storage unit (11) for storing the digitized image data, and an image corresponding to the image data stored in the image storage unit (11). An image processing unit (4) for performing editing processing ;
The image pickup device is composed of a plurality of partial image pickup device groups having an enlarged output specification number of pixels to which the image to be photographed is partially connected , and the image storage means (11) outputs output data for one frame. A display image storage area for temporary storage is provided, and the image processing unit (4) converts the partial image data collected by each partial image sensor into extended image data for enlargement display and stores it in the display image storage area. A moving body detection device that performs processing . A reference image storage area for storing reference image data, an updated image storage area for storing newly acquired image data, and difference data between the reference image data and the newly acquired image data are stored in the image storage means (11). Is stored for each of the partial image sensors, and the image processing unit (4) uses the new change portion of the difference data in the difference image storage area as a location of the moving object. The moving body detection apparatus according to claim 1, which performs detection.

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