JP4827101B2 - Control device, control method, imaging system, imaging method, and program - Google Patents

Description

  The present invention relates to a control device, a control method, an imaging system, an imaging method, and a program. In particular, the present invention relates to an imaging system and an imaging method including a plurality of imaging devices, a control device and a control method for controlling the plurality of imaging devices, and a program for the imaging system and the control device.

Image data is acquired by irradiating a predetermined pattern light toward the three-dimensional space to be monitored, and capturing the intruding object in the three-dimensional space and the image pattern projected on the screen by irradiating the pattern light. Based on a comparison between an imaging device that performs imaging, a monitoring image that is acquired through the imaging device, and a reference image that is acquired when there is no entering object in the three-dimensional space. A three-dimensional monitoring device provided with a measuring device that measures a position is known (for example, see Patent Document 1).
JP 2003-269915 A

  According to the three-dimensional monitoring apparatus described in Patent Document 1, it is possible to detect with high accuracy that an object has entered the three-dimensional space. However, since the back of the intruding object cannot be imaged, a blind spot is generated by the intruding object. Further, according to the three-dimensional monitoring apparatus described in Patent Document 1, the position of the intruding object can be measured, but in order to know which area is a blind spot due to the presence of the intruding object at the position. Requires a calculation in a three-dimensional space, and the blind spot cannot be calculated quickly.

  Accordingly, an object of the present invention is to provide a control device, a control method, an imaging system, an imaging method, and a program that can solve the above-described problems. This object is achieved by a combination of features described in the independent claims. The dependent claims define further advantageous specific examples of the present invention.

  In order to solve the above-described problem, the control device according to the first aspect of the present invention provides at least a part of an imaging region by the first imaging unit that is irradiated with light in a direction substantially the same as the imaging direction of the first imaging unit. Based on the image content of the image of the area including the area, the shadow area specifying unit for specifying the shadow area caused by the irradiated light, and the imaging conditions of the other imaging units of the first imaging unit are controlled. And a control unit that causes the imaging unit to image a region including a shadow region.

  The shadow region specifying unit is generated by the irradiated light based on the image content of the image of the region including the region substantially the same as the imaging region by the first imaging unit irradiated with light from the vicinity of the first imaging unit. A shadow area may be specified.

  The control unit may control at least one of an imaging position, an imaging direction, and an angle of view captured by another imaging unit, and cause the other imaging unit to image the shadow region.

  In the control method according to the second aspect of the present invention, an image of an area including at least a part of an imaging area by the first imaging unit irradiated with light in a direction substantially the same as the imaging direction of the first imaging unit. Based on the image content, the shadow region specifying stage for specifying the shadow region caused by the irradiated light and the imaging condition of the other imaging unit of the first imaging unit are controlled, and the shadow region is included in the other imaging unit A control stage for imaging the region.

  According to a third aspect of the present invention, there is provided a program for a control device, wherein the control device is configured to detect an imaging region by the first imaging unit that is irradiated with light in a direction substantially the same as the imaging direction of the first imaging unit. Based on the image content of the image of the area including at least a part of the area, the imaging condition of the shadow area specifying unit that specifies the shadow area caused by the irradiated light and the other imaging unit of the first imaging unit is controlled. The other imaging unit is caused to function as a control unit that images a region including a shadow region.

  The imaging system according to the fourth aspect of the present invention is substantially the same as the imaging direction of the first imaging unit in at least a part of the imaging area captured by the first imaging unit and the first imaging unit. Based on the image content of the image captured by the second imaging unit, the second imaging unit that captures an image of a region including the region irradiated with light by the light irradiation unit, and the light irradiation unit that irradiates light in the same direction A shadow region specifying unit that specifies a shadow region caused by light emitted by the light irradiation unit, and an imaging condition of another imaging unit of the first imaging unit, and a region that includes the shadow region in the other imaging unit. And a control unit for imaging.

  In the imaging method according to the fifth aspect of the present invention, at least a part of an imaging area captured by the first imaging unit that captures an image is irradiated with light in a direction substantially the same as the imaging direction by the first imaging unit. Generated by the light irradiated in the light irradiation stage, based on the image content of the image captured by the second imaging unit that captures an image of the area including the area irradiated with light in the light irradiation stage A shadow region specifying step of specifying a shadow region; and a control step of controlling the imaging conditions of the other imaging units of the first imaging unit to cause the other imaging units to image the region including the shadow region.

  According to a sixth aspect of the present invention, there is provided a program for an imaging system, wherein the imaging system includes a first imaging unit that captures an image, and a first imaging unit that captures at least a part of an imaging region captured by the first imaging unit. A light irradiating unit that irradiates light in a direction substantially the same as the imaging direction of one imaging unit, a second imaging unit that captures an image of a region including a region irradiated with light by the light irradiating unit, and an image captured by the second imaging unit Based on the image content of the first imaging unit, the shadow region specifying unit for specifying the shadow region generated by the light irradiated by the light irradiation unit and the imaging conditions of the other imaging units of the first imaging unit are controlled, and It functions as a control unit that images an area including the area.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus which can reduce a blind spot area | region using a several imaging device can be provided.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the scope of claims, and all combinations of features described in the embodiments are included. It is not necessarily essential for the solution of the invention.

  FIG. 1 shows an example of the configuration of an imaging system 130 according to an embodiment. The imaging system 130 includes a plurality of imaging devices 100a-d (hereinafter collectively referred to as imaging devices 100), light irradiation units 110a-d (hereinafter collectively referred to as light irradiation units 110), a communication line 150, and a plurality of imaging devices. A control device 120 that controls the imaging device 100 is provided. The imaging device 100 is connected to the control device 120 through the communication line 150 and is controlled by the control device 120. The light irradiators 110a-d are provided in the imaging devices 100a-d, respectively, and irradiate light in substantially the same direction as the direction and angle of view captured by the imaging devices 100a-d. The control device 120 causes the light irradiation unit 110 to emit light. In the present embodiment, the imaging system 130 functions as a monitoring system that monitors by imaging a monitoring area.

  At substantially the same time as the light irradiation unit 110 emits light, the imaging device 100c captures an image of the monitoring area from a position where the entire monitoring area can be looked over. And the control apparatus 120 acquires the image which the imaging device 100c imaged. Then, the control device 120 determines whether or not there is a shadow in the acquired image. When determining that there is a shadow, the control device 120 determines the position, imaging direction, and angle of view of the imaging device 100d and instructs the imaging device 100d to cause the imaging device 100d to capture the shadow area. To do. Then, the imaging device 100d starts imaging at the instructed position, imaging direction, and angle of view.

  The control device 120 causes the plurality of light irradiation units 110 provided in each of the plurality of imaging devices 100a and 100b to irradiate simultaneously, and causes the imaging device 100c to capture an image of the monitoring region. Then, the control device 120 specifies the shadow regions 170a and 170b generated by each of the plurality of light irradiation units 110 from the image captured by the imaging device 100c, and overlaps the shadow region 170a and the shadow region 170b. 180 is specified. Then, the control device 120 may determine the position, the imaging direction, and the angle of view of the imaging device 100d in order to cause the imaging device 100d to capture the identified overlapping shadow region 180.

  According to the imaging system 130, it is possible to quickly identify a region that becomes a blind spot of the imaging apparatus 100 by detecting a shadow. For this reason, it is not necessary to perform a complicated spatial analysis on the area captured by each of the imaging devices 100. Even if there is an object in the monitoring area, the blind spot can be identified without analyzing the three-dimensional structure of the object.

  The light irradiation unit 110 may irradiate visible light or infrared light. Moreover, the light irradiation part 110 may irradiate visible light and infrared light. When the light irradiation unit 110 irradiates visible light, the imaging device 100 images a subject with visible light, and when the light irradiation unit 110 irradiates infrared light, the imaging device 100 images with infrared light. The imaging device 100 is an example of an imaging unit in the present invention.

  FIG. 2 shows an example of a block configuration of the control device 120. The control device 120 includes a shadow area specifying unit 220, a control unit 210, an imaging condition storage unit 230, and a luminance calculation unit 240. The shadow area specifying unit 220 is an image of an image including an area including at least a part of an imaging area of the first imaging device 100 irradiated with light in a direction substantially the same as the imaging direction of the first imaging device 100. Based on the content, a shadow region caused by the irradiated light is specified. Then, the control unit 210 controls the imaging conditions of the other imaging device 100 of the first imaging device 100 to cause the other imaging device 100 to capture an area including a shadow area.

  Specifically, the light irradiation unit 110 emits light in a direction substantially the same as the imaging direction of the first imaging device 100 in at least a part of the imaging region captured by the first imaging device 100 that captures an image. Irradiate. Then, the second imaging device 100 captures an image of a region including the region irradiated with light by the light irradiation unit 110. Then, the shadow area specifying unit 220 specifies a shadow area caused by the light irradiated by the light irradiation unit 110 based on the image content of the image captured by the second imaging device 100. Then, the control unit 210 controls the imaging conditions of the other imaging device 100 of the first imaging device 100 to cause the other imaging device 100 to capture an area including a shadow area.

  The shadow area specifying unit 220 is irradiated based on the image content of the image of the area including the area substantially the same as the imaging area by the first imaging apparatus 100 irradiated with light from the vicinity of the first imaging apparatus 100. Identify shadow areas caused by light. Specifically, the light irradiation unit 110 irradiates light from the vicinity of the first imaging device 100 to a region that is substantially the same as the imaging region captured by the first imaging device 100. Then, the control unit 210 controls at least one of the imaging position, the imaging direction, and the angle of view captured by the other imaging device 100 to cause the other imaging device 100 to capture the shadow region.

  The imaging condition storage unit 230 stores the imaging conditions of the other imaging device 100 when the control unit 210 causes the other imaging device 100 to capture the shadow region in association with the time. Then, the control unit 210 transmits an image to another imaging apparatus 100 in a period including the time stored in the imaging condition storage unit 230 under the imaging conditions stored in the imaging condition storage unit 230 in association with the time. Let's take an image.

  The shadow area specifying unit 220 captures an image of at least a part of the imaging area captured by the first imaging apparatus 100 from a direction different from the direction captured by the first imaging apparatus 100. The light is irradiated from the vicinity of the third imaging device 100 and the vicinity of the first imaging device 100 to the region substantially the same as the imaging region by 100 and the region substantially the same as the imaging region by the first imaging device 100, respectively. Based on the image content of the image of the area including the area irradiated with the light imaged substantially simultaneously, the shadow area generated by the light irradiated from the vicinity of the first imaging apparatus 100, and the third imaging apparatus 100 The overlapping shadow region 180 that is a region overlapping with the shadow region generated by the light irradiated from the vicinity of is identified. Then, the control unit 210 controls the imaging conditions of the first imaging device 100 and the third other imaging device 100 to cause the other imaging device 100 to image the region including the overlapping shadow region 180.

  Specifically, the third imaging device 100 captures an image of at least a part of the imaging region captured by the first imaging device 100 from a direction different from the direction in which the first imaging device 100 captures. . The light irradiation unit 110 irradiates light from the vicinity of the first imaging device 100 to a region that is substantially the same as the imaging region captured by the first imaging device 100 at the same time as the third imaging device 100. Light is irradiated from the vicinity to an area that is substantially the same as the imaging area captured by the third imaging apparatus 100. The second imaging device 100 captures an image of a region including the region irradiated with light by the light irradiation unit 110 substantially simultaneously with the light irradiation unit 110 irradiating light. Then, the shadow region specifying unit 220 is based on the image content of the image captured by the second imaging device 100, and the shadow region generated by the light irradiated from the vicinity of the first imaging device 100 by the light irradiation unit 110; The overlapping shadow region 180 that is a region where the light irradiation unit 110 overlaps with a shadow region generated by light irradiated from the vicinity of the second imaging device 100 is specified. Then, the control unit 210 controls the imaging conditions of the first imaging device 100 and the third other imaging device 100 to cause the other imaging device 100 to image the region including the overlapping shadow region 180.

  Note that the shadow area specifying unit 220 specifies an area having a luminance value equal to or lower than a predetermined luminance value in the image captured by the second imaging apparatus 100 as a shadow area. In addition, the shadow area specifying unit 220 determines in advance a luminance difference between an irradiated image captured when light is irradiated and a non-irradiated image captured when light is not irradiated. An area smaller than the specified value is specified as a shadow area. Specifically, the second imaging device 100 displays an irradiation image captured when the light irradiation unit 110 is irradiating light and a non-irradiation image captured when the light irradiation unit 110 is not irradiating light. Take an image. And the brightness | luminance calculation part 240 calculates each brightness | luminance of an irradiation image and a non-irradiation image for every area | region. For example, the luminance calculation unit 240 calculates the luminance of each of the irradiated image and the non-irradiated image for each pixel. Then, the shadow area specifying unit 220 specifies an area where the difference in luminance between the irradiated image and the non-irradiated image is smaller than a predetermined value as the shadow area. Specifically, the shadow area specifying unit 220 specifies an area where the difference in luminance calculated by the luminance calculating unit 240 is smaller than a predetermined value between the irradiated image and the non-irradiated image as a shadow area.

  Note that the shadow area specifying unit 220 includes an area including at least a part of an imaging area of the first imaging apparatus 100 irradiated with infrared light in a direction substantially the same as the imaging direction of the first imaging apparatus 100. Based on the image content of the image, a shadow region caused by the irradiated infrared light is specified. Specifically, the light irradiation unit 110 irradiates at least a part of an imaging region captured by the first imaging device 100 with infrared rays in a direction substantially the same as the imaging direction of the first imaging device 100. And the 2nd imaging device 100 images the image of the area | region containing the area | region which the light irradiation part 110 irradiated infrared rays by receiving infrared rays.

  FIG. 3 shows an example of the arrangement of the imaging device 100 when the parking lot is monitored by the imaging system 130. The imaging device 100 images a parking lot at a predetermined position / angle of view and imaging direction. Then, the control device 120 instructs each imaging device 100 to perform imaging substantially simultaneously with irradiating the light irradiation unit 110 with light periodically. Then, the shadow area specifying unit 220 specifies a shadow area from each of the images captured by the imaging device 100. The shadow region may be a shadow region in which the difference in brightness is smaller than a predetermined value depending on whether the light irradiation unit 110 emits light or not.

  For example, the shadow region specifying unit 220 specifies shadows generated by the vehicles 310 and 320 by the light from the light irradiation unit 110a and shadows generated by the vehicles 340, 330, and 350 by the light from the light irradiation unit 110b. Then, the control unit 210 determines the position, the imaging direction, and the angle of view of the imaging devices 100c and 100d so that at least one of the imaging devices 100c and 100d can capture the entire area of the specified shadow.

  Note that the control unit 210 may determine the imaging condition of the imaging device 100 based on the brightness of the image of the monitoring area captured when the light irradiation unit 110 is irradiating light. Specifically, the control unit 210 determines the brightness of the image of the monitoring area captured when the light irradiation unit 110 irradiates light in a range that is substantially the same as the imaging range that the imaging device 100 can capture. Based on the above, the imaging condition of the imaging device 100 may be determined. For example, the control device 120 causes each of the light irradiation units 110 provided in the imaging device 100 to irradiate light within the same range as each imaging range of the imaging device 100. And the control apparatus 120 makes the imaging device 100 image the whole monitoring area | region in the state which the light irradiation part 110 is irradiating light. Then, the luminance calculation unit 240 calculates the luminance of the image captured by the imaging device 100. In addition, the control device 120 causes the imaging device 100 to capture the entire monitoring region even when the light irradiation unit 110 is not irradiated with light. Then, the control unit 210 calculates a luminance difference between an image captured when the light irradiation unit 110 is irradiating light and an image captured when the light irradiation unit 110 is not irradiating light. To do. Then, the control unit 210 changes each imaging condition, for example, the position, the imaging direction, and the angle of view of the imaging device 100 in a direction in which the total value of the luminance differences increases in at least the image area where the monitoring area is captured. Let And the control apparatus 120 repeats the light irradiation by said light irradiation part 110, and the imaging operation of the whole monitoring area | region of the imaging device 100, and when the total value of a brightness | luminance difference becomes larger than a predetermined value, or brightness | luminance Each imaging condition of the imaging device 100 when the total value of the differences becomes a maximum value is specified. Then, the control unit 210 causes the imaging device 100 to image the monitoring area under the specified imaging condition. The total luminance difference is the total luminance difference in a region smaller than a predetermined luminance value in the monitoring region image obtained when the light irradiation unit 110 is not irradiating light. It may be.

  In addition, the control unit 210 changes the imaging condition of the imaging apparatus 100 in a direction in which the area of the image area where a luminance difference of a predetermined value or more is obtained increases in at least the image area where the monitoring area is captured. Then, the control device 120 determines that the area of the image region in which the luminance difference equal to or greater than the predetermined value is greater than a predetermined area value, or the area of the image region in which the luminance difference equal to or greater than the predetermined value is obtained. The monitoring area may be imaged by the imaging apparatus 100 under the imaging condition when the maximum value is reached. Note that the area of the image area where a luminance difference equal to or greater than a predetermined value is obtained is an area smaller than a predetermined luminance value in the image of the monitoring area obtained when the light irradiation unit 110 is not irradiating light. It may be the area of the image area where a luminance difference equal to or greater than a predetermined value is obtained. In addition, the area request | requirement here may be the area on an image, and may be the area on real space. In addition, the area may be the number of pixels in the image.

  In the above description, the imaging device 100 that captures the entire monitoring area may be all the imaging devices 100 or at least one imaging device 100. In addition, the imaging device 100 that captures the entire monitoring area may be a plurality of imaging devices 100 in which the difference in imaging direction is larger than a predetermined angle difference. In addition, an imaging device other than the imaging device 100 may image the entire monitoring area.

  According to the control as described above, the imaging device 100 captures an area in which light from the light irradiation unit 110 is difficult to reach, thereby increasing the usefulness of the image captured by the imaging device 100 as a monitoring image. For example, when the light irradiation unit 110a is irradiating light with an angle of view substantially the same as the angle of view of the imaging device 100a, the shadow region where the light from the light irradiation unit 110a does not reach is naturally captured by the imaging device 100a. Not. Therefore, it can be said that the amount of information as the monitoring image of the image captured by the imaging device 100a is 0 for the area. In addition, the increase in brightness when the light irradiation unit 110a emits light also becomes smaller as the distance from the image capturing apparatus 100a increases. On the other hand, in many cases, the clearer the image picked up by the image pickup apparatus 100a is, the farther from the image pickup apparatus 100a. As described above, the difference in brightness between the case where the light irradiation unit 110a emits light and the case where the light irradiation unit 110a does not emit light has a correlation with the amount of information as a monitoring image of the image obtained by the imaging device 100a. It can be said that there is. According to the imaging system 130, since the control device 120 specifies an imaging condition in which the amount of increase in brightness increases when the light irradiation unit 110a emits light, an area where the resolution is weak among the plurality of imaging devices 100 is covered. The amount of information of the obtained image as a monitoring image can be increased as a whole.

  Note that the control device 120 may cause each of the light irradiation units 110 to emit light at different timings and cause the imaging device 100 to capture an image of a period including the irradiation timing. Then, the shadow region specifying unit 220 may specify each of the shadow regions generated by each of the light irradiation units 110 based on the image content of the image captured by the imaging device 100 and the timing when the imaging device 100 images. In addition, the light irradiation unit 110 may irradiate light having different wavelengths. Then, the shadow area specifying unit 220 may specify each of the shadow areas generated by each of the light irradiation units 110 based on the image content of the image captured by the imaging device 100. For example, the light irradiation units 110a, b, c, and d may irradiate light in the wavelength regions of C, M, Y, and G, respectively. And the brightness | luminance calculation part 240 each of the shadow area produced by each of the light irradiation part 110 based on the light quantity of each wavelength area of C, M, Y, and G which the image imaged with the imaging device 100 shows May be specified. In addition, as the light irradiated by the light irradiation unit 110, light in a plurality of wavelength regions in visible light such as RGB, a combination of visible light, infrared light, and ultraviolet light can be used. When the light irradiation unit 110 irradiates light having different wavelengths, the shadow region specifying unit 220 can specify the shadow region even when light is simultaneously irradiated from the light irradiation unit 110. In addition, you may irradiate light at a mutually different timing to each of the several group of the light irradiation part 110 which irradiates the light of a mutually different wavelength. Note that an imaging apparatus that captures an image for the shadow area specifying unit 220 to specify a shadow area may be provided separately from the imaging apparatus 100.

  Note that the control device 120 may cause the light irradiation units 110 of all the imaging devices 100 to emit light substantially simultaneously. Then, the control device 120 determines whether or not at least one imaging device 100 has captured the entire area of the overlapping shadow area specified by the shadow area specifying unit 220, and has captured at least one of the entire area of the overlapping shadow area. When it is determined that the device 100 is imaging, the control of the imaging device 100 is terminated. The imaging condition storage unit 230 stores the imaging conditions of all the imaging devices 100 in association with the current time.

  Note that the imaging condition storage unit 230 may store the imaging conditions of the imaging apparatus 100 in association with information that specifies the position of the moving object included in the imaging area. The moving object may be a movable object that does not pass light. The control device 120 can determine whether or not the object included in the image captured by the imaging device 100 is a moving object, based on the temporal change in the image content of the image captured by the imaging device 100.

  FIG. 4 shows an example of data stored in the imaging condition storage unit 230 in a table format. The imaging condition storage unit 230 stores the imaging parameters of the plurality of imaging devices 100 in association with the time. The imaging parameter may be information that specifies one or more imaging conditions. The camera ID # 1, the camera ID # 2, and the camera ID # 3 are information for identifying the imaging device 100. When the time length between the time stored in the imaging condition storage unit 230 and the current time becomes shorter than a predetermined time length, the control unit 210 associates the time with the imaging condition storage. The imaging parameter stored in the unit 230 is read out, the imaging condition of the imaging device 100 is set to the imaging condition indicated by the readout imaging parameter, and the imaging device 100 is caused to capture an image under the set imaging condition.

  FIG. 5 shows another example of data stored in the imaging condition storage unit 230 in a table format. The imaging condition storage unit 230 stores each imaging parameter of the imaging device 100 determined by the control device 120 when the parking pattern is associated with the parking pattern. In addition, a parking pattern is information which identifies the combination of the parking frame where the vehicle is parked, and is an example of the information which specifies the position of a moving object. When the difference between the current parking pattern and the parking pattern stored in the imaging condition storage unit 230 is smaller than a predetermined difference, the control unit 210 stores the imaging condition in association with the parking pattern. The imaging parameter stored in the unit 230 is read out, the imaging condition of the imaging device 100 is set to the imaging condition indicated by the readout imaging parameter, and the imaging device 100 is caused to capture an image under the set imaging condition.

  Thus, since the imaging condition storage unit 230 stores each imaging parameter of the imaging device 100 determined in the past in association with the time and the parking pattern, the control device 120 can correspond to the time and the parking pattern. The imaging conditions of the imaging device 100 can be determined quickly. Note that the control device 120 sets the imaging condition of the imaging device 100 to the imaging condition indicated by the imaging parameter stored in the imaging condition storage unit 230, and then causes the light irradiation unit 110 to emit light and capture the image on the imaging device 100. By doing so, it may be determined whether or not the new setting is appropriate. When determining that it is not appropriate, the control device 120 may start setting the imaging conditions of the imaging device 100 using the light irradiation unit 110 from the current setting.

  In the above description, the control device 120 provided separately from the imaging device 100 controls the imaging conditions and the like of the plurality of imaging devices 100. In another form, each of the plurality of imaging devices 100 may have at least a part of the functions of the control device 120 described above. Specifically, each of the imaging devices 100 has a function of a luminance calculation unit 240 that calculates a difference in luminance based on an image captured by the imaging device 100, and a shadow area based on the image content captured by the imaging device 100. A shadow area specifying unit 220 that specifies the image capturing condition, a function of the imaging condition storage unit 230 that stores the imaging conditions of the imaging apparatus 100, and a function of the control unit 210 that controls the imaging conditions of the imaging apparatus 100. Also good.

  FIG. 6 shows an example of the hardware configuration of the imaging system 130. The imaging system 130 includes a CPU peripheral unit having a CPU 1505, a RAM 1520, a graphic controller 1575, and a display device 1580 connected to each other by a host controller 1582, and a communication interface connected to the host controller 1582 by an input / output controller 1584. 1530, an input / output unit including a hard disk drive 1540 and a CD-ROM drive 1560, and a legacy input / output unit including a ROM 1510 connected to an input / output controller 1584, a flexible disk drive 1550, and an input / output chip 1570.

  The host controller 1582 connects the RAM 1520, the CPU 1505 that accesses the RAM 1520 at a high transfer rate, and the graphic controller 1575. The CPU 1505 operates based on programs stored in the ROM 1510 and the RAM 1520 and controls each unit. The graphic controller 1575 acquires image data generated by the CPU 1505 and the like on a frame buffer provided in the RAM 1520 and displays the image data on the display device 1580. Alternatively, the graphic controller 1575 may include a frame buffer that stores image data generated by the CPU 1505 or the like.

  The input / output controller 1584 connects the host controller 1582 to the hard disk drive 1540, the communication interface 1530, and the CD-ROM drive 1560, which are relatively high-speed input / output devices. The hard disk drive 1540 stores programs and data used by the CPU 1505. The communication interface 1530 is connected to the network communication device 1598 to transmit / receive programs or data. The CD-ROM drive 1560 reads a program or data from the CD-ROM 1595 and provides it to the hard disk drive 1540 and the communication interface 1530 via the RAM 1520.

  The input / output controller 1584 is connected to the ROM 1510, the flexible disk drive 1550, and the relatively low-speed input / output device of the input / output chip 1570. The ROM 1510 stores a boot program executed when the imaging system 130 is started, a program depending on the hardware of the imaging system 130, and the like. The flexible disk drive 1550 reads a program or data from the flexible disk 1590 and provides it to the hard disk drive 1540 and the communication interface 1530 via the RAM 1520. The input / output chip 1570 connects various input / output devices via a flexible disk drive 1550 and, for example, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

  A program executed by the CPU 1505 is stored in a recording medium such as the flexible disk 1590, the CD-ROM 1595, or an IC card and provided by the user. The program stored in the recording medium may be compressed or uncompressed. The program is installed in the hard disk drive 1540 from the recording medium, read into the RAM 1520, and executed by the CPU 1505.

  The program executed by the CPU 1505 sets the imaging system 130 to the imaging apparatus 100, the light irradiation unit 110, the shadow area specifying unit 220, the control unit 210, and the imaging condition storage unit 230 described with reference to FIGS. To function as.

  The program shown above may be stored in an external storage medium. As the storage medium, in addition to the flexible disk 1590 and the CD-ROM 1595, an optical recording medium such as a DVD or PD, a magneto-optical recording medium such as an MD, a tape medium, a semiconductor memory such as an IC card, or the like can be used. Further, a storage device such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the imaging system 130 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

2 is a diagram illustrating an example of a usage environment of an imaging system 130. FIG. 3 is a diagram illustrating an example of a block configuration of a control device 120. FIG. 2 is a diagram illustrating an example of an arrangement of the imaging device 100. FIG. It is a figure which shows an example of the data which the imaging condition memory | storage part 230 has stored in the table format. It is a figure which shows another example of the data which the imaging condition memory | storage part 230 has stored in the table format. 2 shows an example of a hardware configuration of an imaging system 130.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Imaging device 110 Light irradiation part 120 Control apparatus 130 Imaging system 150 Communication line 160 Vehicle 170 Shadow area 180 Overlapping shadow area 210 Control part 220 Shadow area specific | specification part 230 Imaging condition memory | storage part 240 Luminance calculation part

Claims (13)

The irradiated light based on the image content of an image of an area including at least a part of the imaging area by the first imaging unit, which is irradiated in a direction substantially the same as the imaging direction of the first imaging unit. A shadow area specifying unit for specifying a shadow area generated by
A control apparatus comprising: a control unit that controls an imaging condition of another imaging unit of the first imaging unit and causes the other imaging unit to image an area including the shadow area. The shadow region specifying unit is irradiated with light based on the image content of an image of a region that is irradiated with light from the vicinity of the first imaging unit and includes a region that is substantially the same as the imaging region by the first imaging unit. The control device according to claim 1, wherein a shadow region caused by light is specified. 2. The control unit according to claim 1, wherein the control unit controls at least one of an imaging position, an imaging direction, and an angle of view captured by the other imaging unit, and causes the other imaging unit to capture an area including the shadow area. The control device described. An imaging condition storage unit that stores the imaging condition of the other imaging unit when the control unit causes the other imaging unit to image the shadow region, in association with time;
The control unit causes the other imaging unit to capture an image under the imaging condition stored in the imaging condition storage unit in association with the time during a period including the time stored in the imaging condition storage unit. The control device according to claim 3. The shadow region specifying unit is substantially the same as an imaging region by a second imaging unit that captures an image of at least a part of an imaging region captured by the first imaging unit from a direction different from a direction captured by the first imaging unit. The same region and the region that is substantially the same as the image capturing region by the first image capturing unit are irradiated with light that is captured at substantially the same time as light is irradiated from the vicinity of the second image capturing unit and the vicinity of the first image capturing unit, respectively. Based on the image content of the image of the region including the region that has been set, the shadow region caused by the light emitted from the vicinity of the first imaging unit and the shadow caused by the light emitted from the vicinity of the second imaging unit Identify the overlapping shadow area that overlaps the area,
The said control part controls the imaging conditions of the other imaging part of the said 1st imaging part and the said 2nd imaging part, and makes the said other imaging part image the area | region containing the said overlapping shadow area. Control device. 2. The control device according to claim 1, wherein the shadow area specifying unit specifies, as a shadow area, an area having a luminance value equal to or lower than a predetermined luminance value in an image including an area including at least a part of an imaging area obtained by the first imaging unit. . The shadow area specifying unit is a value in which a difference in luminance is predetermined between an irradiation image captured when the light is irradiated and a non-irradiation image captured when the light is not irradiated. The control device according to claim 1, wherein a smaller area is specified as a shadow area. The shadow area specifying unit is an image of an area including at least a part of an imaging area obtained by the first imaging unit, which is irradiated with infrared light in a direction substantially the same as the imaging direction of the first imaging unit. The control device according to claim 1, wherein a shadow region generated by the irradiated infrared light is specified based on content. The irradiated light based on the image content of an image of an area including at least a part of the imaging area by the first imaging unit, which is irradiated in a direction substantially the same as the imaging direction of the first imaging unit. A shadow region identification step for identifying a shadow region caused by
A control method comprising: a control step of controlling an imaging condition of another imaging unit of the first imaging unit to cause the other imaging unit to image an area including the shadow area. A program for a control device, wherein the control device is
The irradiated light based on the image content of an image of an area including at least a part of the imaging area by the first imaging unit, which is irradiated in a direction substantially the same as the imaging direction of the first imaging unit. A shadow area specifying unit for specifying a shadow area generated by
A program for controlling an imaging condition of another imaging unit of the first imaging unit to cause the other imaging unit to function as a control unit that images an area including the shadow area. A first imaging unit that captures an image;
A light irradiating unit that irradiates at least a part of an imaging region captured by the first imaging unit in a direction substantially the same as the imaging direction of the first imaging unit;
A second imaging unit that captures an image of a region including a region irradiated with light by the light irradiation unit;
A shadow region specifying unit that specifies a shadow region caused by the light irradiated by the light irradiation unit based on the image content of the image captured by the second imaging unit;
An imaging system comprising: a control unit that controls an imaging condition of another imaging unit of the first imaging unit and causes the other imaging unit to image an area including the shadow area. A light irradiation step of irradiating at least a part of an imaging region captured by the first imaging unit capturing an image with light in a direction substantially the same as an imaging direction by the first imaging unit;
Based on the image content of the image captured by the second imaging unit that captures an image of the region including the region irradiated with light in the light irradiation step, the shadow region caused by the light irradiated in the light irradiation step is identified Shadow region identification stage to be performed,
An imaging method comprising: a control step of controlling an imaging condition of another imaging unit of the first imaging unit and causing the other imaging unit to image an area including the shadow area. A program for an imaging system, wherein the imaging system is
A first imaging unit that captures an image;
A light irradiating unit that irradiates at least a part of an imaging region captured by the first imaging unit with light in a direction substantially the same as the imaging direction of the first imaging unit;
A second imaging unit that captures an image of a region including a region irradiated with light by the light irradiation unit;
A shadow region specifying unit that specifies a shadow region caused by the light irradiated by the light irradiation unit based on the image content of the image captured by the second imaging unit;
A program for controlling an imaging condition of another imaging unit of the first imaging unit to cause the other imaging unit to function as a control unit that images an area including the shadow area.

Images