JP4834645B2 - Robot camera parameter calculation device, subject information calculation device, robot camera parameter calculation program, and subject information calculation program - Google Patents

Description

  The present invention relates to a technology for controlling a robot camera, and in particular, a robot camera parameter calculation device, a subject information calculation device, a robot camera parameter calculation program, and a subject information calculation program for calculating camera parameters when photographing with a robot camera. About.

Conventionally, in shooting using a robot camera, an angle indicating the camera direction and an encoder value for detecting a lens position are stored in advance in an internal memory, and the same angle and position are reproduced by a user command. (Hereinafter referred to as “memory shot”) is used (see, for example, Non-Patent Document 1 and Non-Patent Document 2).
“SP-2000 / XY Servo Pedestal”, [online], [Search September 10, 2007], Internet <URL: http://www.vintenradamec.com/sp2000-en.php> “RP2A Robotic Pedestal”, [online], [searched on September 10, 2007], Internet <URL: http://www.vintenradamec.com/rp2a-ja.php>

  For example, this function is useful when the camera position is fixed and the camera should be pointed in a fixed direction, such as a robot camera installed on the roof of a building or an airport. However, in a robot camera that shoots while moving, when recreating the camera angle and position, if the camera position slightly deviates from the expected position, the image will be different from the expected image. It was. When the camera is in this position and an attempt is made to take a shot with the same composition, it is necessary to re-record the recorded information on the angle and position of the camera.

  In addition, in the shot while moving, since the composition during the movement is not set, if the control of the camera head and the moving carriage are not coordinated, the subject to be photographed may be out of the image. For this reason, when the exact position of the camera is known, there has been a demand for a photographing technique that automatically adjusts the direction of the camera in accordance therewith to obtain a recorded composition.

  The present invention was made to solve the above-described problems of the prior art, and according to the position of the camera, a robot camera parameter calculation device for calculating camera parameters for shooting a subject with a composition to be shot, An object is to provide a subject information calculation device, a robot camera parameter calculation program, and a subject information calculation program.

  In order to solve the above-described problem, the robot camera parameter calculation device according to claim 1 is a robot camera parameter calculation device that calculates information on a shooting direction, a focus value, and a zoom value in shooting by a robot camera. Means, subject information storage means, subject distance calculation means, shooting direction calculation means, focus value calculation means, and zoom value calculation means.

  According to such a configuration, the robot camera parameter calculation device inputs the information on the three-dimensional position of the robot camera by the camera position input unit, and the information on the three-dimensional position of the subject in the subject information storage unit, Information for specifying the size of the shooting area of the shooting shot for shooting the subject is stored.

  Further, the robot camera parameter calculation device uses the subject distance calculation unit to input the three-dimensional position information of the robot camera input from the camera position input unit and the information about the three-dimensional position of the subject stored in the subject information storage unit. Based on the above, the distance from the robot camera to the subject is calculated, and the three-dimensional position information of the robot camera input from the camera position input unit and the subject information storage unit are stored by the shooting direction calculation unit. Based on the information on the three-dimensional position of the subject and the distance calculated by the subject distance calculation means, information indicating the photographing direction is calculated with the direction from the robot camera to the subject as the photographing direction. The robot camera parameter calculation device calculates a focus value focused on the subject based on the distance calculated by the subject distance calculation unit by the focus value calculation unit, and the subject distance calculation unit by the zoom value calculation unit. Based on the calculated distance and information for specifying the size of the shooting area stored in the subject information storage means, the zoom value of the robot camera for shooting the shooting area of this size at the position of the subject is calculated.

  As a result, the robot camera parameter calculation device allows the robot camera to detect the three-dimensional position of the subject and the information that specifies the size of the shooting area of the shot to be shot of the subject at the input shooting position. The shooting direction, focus value, and zoom value for shooting the shooting area can be calculated.

  According to a second aspect of the present invention, there is provided the subject information calculation apparatus according to the first aspect of the present invention, wherein the information about the three-dimensional position of the subject used in the robot camera parameter calculation apparatus and the size of the photographing region for photographing the subject Is a subject information calculation device that calculates information for identifying a subject, and includes a subject shooting camera information input unit, a distance calculation unit, a shooting region calculation unit, and a subject position calculation unit.

  According to such a configuration, the subject information calculation device uses the subject photographing camera information input means to obtain the information on the three-dimensional position, the photographing direction information, the focus value, and the zoom value of the robot camera that photographs the subject in this photographing region. The distance is calculated, and the distance between the robot camera and the subject is calculated based on the focus value input from the subject photographing camera information input unit. Further, the subject information calculation device is information for specifying the size of the shooting area based on the zoom value input from the shooting target camera information input means by the shooting area calculation means and the distance calculated by the distance calculation means. And the subject position calculation means based on the information of the three-dimensional position of the robot camera input from the subject shooting camera information input means, the information of the shooting direction, and the distance calculated by the distance calculation means. Information on the position is calculated with a position that is separated from the three-dimensional position of the robot camera in this shooting direction by this distance as the three-dimensional position of the subject.

  As a result, the subject information calculation apparatus captures information on the three-dimensional position of the subject, which is information for specifying a photographing area in which the subject is photographed with a desired size by the robot camera, and photographing of a photographing shot for photographing the subject. Information specifying the size of the area can be calculated.

  Furthermore, the robot camera parameter calculation program according to claim 3, wherein the computer calculates a shooting direction information, a focus value, and a zoom value in shooting by the robot camera, a camera position input unit, a camera condition calculation unit, a subject distance The calculation unit, the shooting direction calculation unit, the focus value calculation unit, and the zoom value calculation unit function.

  According to this configuration, the robot camera parameter calculation program inputs information on the three-dimensional position of the robot camera by the camera position input unit. In addition, the robot camera parameter calculation program uses the subject distance calculation unit to convert the information about the three-dimensional position of the robot camera input from the camera position input unit and the information about the three-dimensional position of the subject stored in the storage device. Based on this, the distance from the robot camera to the subject is calculated, and the three-dimensional position information of the robot camera input from the camera position input means by the shooting direction calculation means and the three of the subjects stored in the storage device are calculated. Based on the information on the position of the dimension and the distance calculated by the subject distance calculating means, information indicating the photographing direction is calculated with the direction from the robot camera to the subject as the photographing direction.

  The robot camera parameter calculation program calculates a focus value focused on the subject based on the distance calculated by the subject distance calculation unit by the focus value calculation unit, and the subject distance calculation unit by the zoom value calculation unit. Based on the calculated distance and information for identifying the size of the shooting area for shooting the subject stored in the storage device, the zoom value of the robot camera for shooting the shooting area of this size at the position of the subject is calculated. To do.

  As a result, the robot camera parameter calculation program causes the robot camera to detect the three-dimensional position of the subject and the information specifying the size of the photographing area of the photographing shot for photographing the subject. The shooting direction, focus value, and zoom value for shooting the shooting area can be calculated.

  According to a fourth aspect of the present invention, there is provided a subject information calculation program that includes information on a three-dimensional position of a subject used in the robot camera parameter calculation device according to the first aspect and a size of a photographing region for photographing a subject. The computer is caused to function as subject shooting camera information input means, distance calculation means, shooting area calculation means, and subject position calculation means.

  According to such a configuration, the subject information calculation program obtains the three-dimensional position information, the photographing direction information, the focus value, and the zoom value of the robot camera that photographs the subject in the photographing region by the subject photographing camera information input unit. The distance is calculated, and the distance between the robot camera and the subject is calculated based on the focus value input from the subject photographing camera information input unit. The subject information calculation program is information for specifying the size of the shooting area based on the zoom value input from the shooting target camera information input means by the shooting area calculation means and the distance calculated by the distance calculation means. And the subject position calculation means based on the information of the three-dimensional position of the robot camera input from the subject shooting camera information input means, the information of the shooting direction, and the distance calculated by the distance calculation means. Information on the position is calculated with a position that is separated from the three-dimensional position of the robot camera in this shooting direction by this distance as the three-dimensional position of the subject.

  As a result, the subject information calculation program captures information about the three-dimensional position of the subject, which is information for specifying a photographing region in which the subject is photographed with a desired size by the robot camera, and photographing of a photographing shot for photographing the subject. Information specifying the size of the area can be calculated.

  The robot camera parameter calculation device, the subject information calculation device, the robot camera parameter calculation program, and the subject information calculation program according to the present invention have the following excellent effects.

  According to the first or third aspect of the invention, as information for specifying the shooting region, information on the three-dimensional position of the subject and the size of the shooting region of the shooting shot for shooting the subject are specified. By storing the information to be performed, it is possible to calculate camera parameters for photographing the photographing region according to the position of the robot camera. Therefore, even when the robot camera is moving, or even when the robot camera is moved to a position different from the assumed position, camera parameters for shooting without changing the assumed shot composition according to the position. Can be calculated.

  According to the second or fourth aspect of the invention, information on the three-dimensional position of the subject, which is information for specifying the assumed photographing region, and the size of the photographing region of the photographing shot for photographing the subject. It is possible to calculate information for specifying the length.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, a robot camera control system including a robot camera parameter calculation device and a subject information calculation device according to the present invention will be described.

[Robot Camera Control System Configuration]
First, the configuration of the robot camera control system A will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a robot camera control system including a subject information calculation apparatus and a robot camera parameter calculation apparatus according to the present invention.

  The robot camera control system A records a memory shot of a robot camera (not shown) and performs control for reproducing the memory shot. The robot camera control system A is configured to record information about a three-dimensional position (shooting position) from a robot camera that has previously shot a subject in a desired shooting area and camera parameters (pan angle, tilt angle, zoom) when recording a memory shot. Information on the three-dimensional position of the subject and information for specifying the size of the imaging region are calculated. Then, the robot camera control system A shoots the same subject in a shooting area of the same size as that at the time of memory shot recording based on the information on the three-dimensional position of the robot camera that moves and shoots at the time of memory shot reproduction. Camera parameters are calculated. The robot camera control system A includes a subject information calculation device 1 and a robot camera parameter calculation device 5.

  The subject information calculation device 1 inputs information on a three-dimensional position from a robot camera that has previously photographed a subject in a desired photographing region and information on camera parameters, and information on the three-dimensional position of the subject and the photographing region. And information for specifying the size of. The information on the three-dimensional position of the subject calculated here and the information specifying the size of the shooting area are output to the robot camera parameter calculation device 5 as information for reproducing the memory shot of the desired shooting area. Is done. The subject information calculation apparatus 1 includes a robot camera data collection unit 11, a camera subject distance calculation unit 12, a shooting area height calculation unit 13, and a screen center position coordinate calculation unit 14.

  The robot camera data collection unit (subject shooting camera information input means) 11 includes information on the three-dimensional position (shooting position) from the robot camera that shot the subject in a desired shooting area, and camera parameters (pan angle, tilt angle, Zoom value and focus value) information. The focus value information input here is in the camera subject distance calculation unit 12, the zoom value information is in the shooting area height calculation unit 13, and the pan angle, tilt angle, and shooting position information is in the screen center position coordinate calculation unit. 14 is output.

  The camera subject distance calculation unit (distance calculation means) 12 calculates the distance between the robot camera and the subject based on the focus value information input from the robot camera data collection unit 11. Information on the distance calculated here is output to the imaging region height calculation unit 13 and the screen center position coordinate calculation unit 14.

  Here, referring to FIG. 2 (refer to FIG. 1 as appropriate), a method in which the camera subject distance calculation unit 12 calculates the distance between the robot camera and the subject will be described. FIG. 2 is a table showing the relationship between the focus value of the robot camera and the distance between the camera and the subject.

  When the focus value information is input from the robot camera data collection unit 11, the camera subject distance calculation unit 12 receives the focus value of the robot camera stored in the storage unit (not shown) and the relationship between the distance between the camera and the subject. The distance between the camera and the subject corresponding to the focus value is read out. Here, for example, when information “10%” is input as the focus value from the robot camera data collection unit 11 to the camera subject distance calculation unit 12, the camera subject distance calculation unit 12 in the table of FIG. Information of “7012 mm” is acquired as the distance between the camera corresponding to the focus value “10%” and the subject. If the value that matches the input focus value is not in the focus value column of the table of FIG. 2, the camera-to-subject distance calculation unit 12 determines the distance between the camera and the subject corresponding to the previous and subsequent focus values. The distance between the camera and the subject corresponding to the input focus value may be calculated.

  Returning to FIG. 1, the description will be continued. The imaging area height calculation unit (imaging area calculation means) 13 is information on the zoom value input from the robot camera data collection unit 11 and information on the distance between the camera and the subject input from the camera subject distance calculation unit 12. Based on the above, information for specifying the size of the shooting area shot by the robot camera is calculated. Information for specifying the size of the imaging region calculated here is stored in the shot memory storage unit 52 of the robot camera parameter calculation device 5.

  Here, with reference to FIG. 3 and FIG. 4 (refer to FIG. 1 as appropriate), a method of calculating information for specifying the size of the shooting area by the shooting area height calculation unit 13 will be described. Here, the shooting area height calculation unit 13 calculates the height H of the shooting area R as information for specifying the size of the shooting area R. For example, the width of the shooting area R is obtained. Alternatively, the length of the diagonal line may be obtained. FIG. 3 is a schematic diagram schematically illustrating an example of an imaging region. FIG. 4 is an explanatory diagram for explaining a method by which the photographing area height calculation unit calculates information for specifying the size of the photographing area. FIG. 4A shows a camera viewed from above in the vertical direction (Z-axis direction). FIG. 5B is a schematic diagram schematically showing the arrangement of the camera and the shooting area viewed from the horizontal direction (Y-axis direction).

The imaging region height calculation unit 13 calculates the vertical field angle θ _FOV of the lens based on the zoom value information input from the robot camera data collection unit 11. Then, the shooting area height calculation unit 13 calculates the height H of the shooting area by the following equation (1) based on the vertical angle of view θ _FOV and the distance L between the camera and the subject.
H = 2L · tan (θ _FOV / 2) (1)

  Returning to FIG. 1, the description will be continued. The screen center position coordinate calculation unit (subject position calculation means) 14 includes information on the pan angle, tilt angle, and shooting position input from the robot camera data collection unit 11, and the camera input from the camera subject distance calculation unit 12. Information indicating the three-dimensional position of the subject photographed by the robot camera is calculated based on the information on the distance to the subject. Information indicating the position of the subject calculated here is stored in the shot memory storage unit 52 of the robot camera parameter calculation device 5.

  Here, with reference to FIGS. 3 and 4 (refer to FIG. 1 as appropriate), a method in which the screen center position coordinate calculation unit 14 calculates information indicating the three-dimensional position of the subject will be described. Here, the screen center position coordinate calculation unit 14 calculates the three-dimensional coordinates (X, Y, Z) of the center of the shooting region R as information indicating the position of the subject. The three-dimensional coordinates of a specific corner of R may be obtained.

Here, the screen center position coordinate calculation unit 14 determines the pan angle θ _p , the tilt angle θ _t and the shooting position (X _c , Y _c , Z _c ) input from the robot camera data collection unit 11. Based on the following formula (2), the three-dimensional coordinates (X, Y, Z) of the center of the imaging region R are calculated.
X = X _c + L · sin θ _p
Y = Y _c + L · cos θ _p (2)
Z = Z _c + L · sin θ _t

  Returning to FIG. 1, the description will be continued. The robot camera parameter calculation device 5 determines the subject based on the information on the three-dimensional position of the subject, the information for specifying the size of the shooting area, and the information on the three-dimensional position of the robot camera that reproduces the memory shot. The camera parameters for shooting in this size shooting area are calculated. Here, the robot camera parameter calculation device 5 receives information on the three-dimensional position of the subject calculated by the subject information calculation device 1 and information specifying the size of the shooting area in the subject information calculation device 1. It was decided to store it as information to reproduce the memory shot of the robot camera that was input. The robot camera parameter calculation device 5 includes a robot camera data collection unit 51, a shot memory storage unit 52, a robot camera drive data calculation unit 53, and a motor control unit 54.

  The robot camera data collection unit (camera position input means) 51 inputs information on the three-dimensional position (shooting position) of the robot camera that reproduces the memory shot acquired by the subject information calculation apparatus 1. The information on the shooting position input here is output to the robot camera drive data calculation unit 53.

  The shot memory storage unit (subject information storage means, storage device) 52 is information for specifying the three-dimensional position of the subject at the time of recording the memory shot calculated by the subject information calculation device 1 and information for specifying the size of the shooting area. Is a general storage means such as a hard disk. The information stored here is referred to and used by the robot camera drive data calculation unit 53.

  The robot camera drive data calculation unit 53 includes information on the photographing position input from the robot camera data collection unit 51, information on the three-dimensional position of the subject at the time of recording the memory shot stored in the shot memory storage unit 52, The camera parameters (pan angle, tilt angle, zoom value, and focus value) of the robot camera that reproduces the memory shot are calculated based on the information that specifies the size of the shooting area. The robot camera drive data calculation unit 53 includes a distance calculation unit 53a, a shooting direction calculation unit 53b, a focus calculation unit 53c, and a zoom calculation unit 53d.

  The distance calculation unit (subject distance calculation means) 53a includes information on the photographing position input from the robot camera data collection unit 51 and the three-dimensional position of the subject at the time of recording the memory shot stored in the shot memory storage unit 52. The distance between the robot camera and the subject is calculated based on the information. Information on the distance calculated here is output to the shooting direction calculation unit 53b, the focus calculation unit 53c, and the zoom calculation unit 53d.

Here, when the photographing position (X _c ′, Y _c ′, Z _c ′) is input from the robot camera data collection unit 51 to the distance calculation unit 53 a, the distance calculation unit 53 a stores the shot calculation in the shot memory storage unit 52. Based on the three-dimensional coordinates (X, Y, Z) of the center of the imaging region when the recorded memory shot is recorded, the distance L ′ between the robot camera and the subject is calculated by the following equation (3).
L ′ = √ {(X−X _c ′) ² + (Y−Y _c ′) ² + (Z−Z _c ′) ² } (3)

  The shooting direction calculation unit (shooting direction calculation unit) 53b is a three-dimensional position of the subject at the time of recording the shooting position information input from the robot camera data collection unit 51 and the memory shot stored in the shot memory storage unit 52. And information (here, pan angle, tilt angle) indicating the shooting direction of the robot camera that reproduces the memory shot based on the information of the above and the distance information from the robot camera to the subject input from the distance calculation unit 53a. Is to be calculated. Information indicating the shooting direction calculated here is output to the motor control unit 54.

Here, the shooting direction calculation unit 53b includes the shooting position (X _c ′, Y _c ′, Z _c ′), the three-dimensional coordinates (X, Y, Z) of the center of the shooting area, and the robot camera and the subject. Based on the distance L ′, the pan angle θ _p ′ and the tilt angle θ _t ′ are calculated based on the following equation (4).
θ _p ′ = sin ⁻¹ {(Y−Y _c ′) / L ′}
θ _t ′ = cos ⁻¹ {(Z−Z _c ′) / L ′} (4)

The focus calculation unit (focus value calculation means) 53c calculates the focus value of the robot camera that reproduces the memory shot, based on the distance information from the robot camera to the subject input from the distance calculation unit 53a. Information on the focus value calculated here is output to the motor control unit 54.

  Here, the focus calculation unit 53c, based on the distance L ′ between the robot camera and the subject input from the distance calculation unit 53a, the focus value of the robot camera stored in a storage unit (not shown), and the camera and the subject. The focus value corresponding to the distance L ′ between the camera and the subject is read out with reference to a table (see FIG. 2) showing the relationship between the distances. At this time, if the value that matches the input distance L ′ between the robot camera and the subject is not in the column of the distance between the robot camera and the subject in the table of FIG. The focus value corresponding to the input distance L ′ between the robot camera and the subject is calculated by interpolation from the focus value. Here, for example, when the distance L ′ between the robot camera and the subject is “7934 mm”, the focus calculation unit 53c determines the value “before and after” in the column of the distance between the robot camera and the subject in the table of FIG. Based on the focus values “9%” and “8%” corresponding to “7786 mm” and “8753 mm”, the focus value corresponding to the distance “7934 mm” between the robot camera and the subject is “8.84%” [8+ (7934). -8753) / (7786-8873)] is acquired.

  The zoom calculation unit (zoom value calculation means) 53d includes information for specifying the size of the shooting area stored in the memory shot stored in the shot memory storage unit 52, and the subject from the robot camera input from the distance calculation unit 53a. The zoom value of the robot camera that reproduces the memory shot is calculated on the basis of the distance information up to. Information on the zoom value calculated here is output to the motor control unit 54.

Then, the zoom calculation unit 53d reads the height H of the shooting area from the shot memory storage unit 52, and based on the following formula (5) from the height H and the distance L ′ between the robot camera and the subject. The vertical angle of view θ _FOV ′ of the lens is calculated. Furthermore, the robot camera drive data calculation unit 53 can calculate the zoom value of the robot camera from the vertical angle of view θ _FOV ′ of the lens.
θ _FOV '= 2 · tan ⁻¹ {(H / 2) / L ′} (5)

  The motor control unit 54 controls the shooting direction and angle of view of the robot camera that reproduces the memory shot based on the camera parameters calculated by the robot camera drive data calculation unit 53. The motor control unit 54 controls the shooting direction, zoom, and focus indicated by the camera parameters calculated by the robot camera drive data calculation unit 53 with respect to a motor (not shown) that adjusts the shooting direction, zoom, and focus of the robot camera. Controls shooting with focus.

  The subject information calculation device 1 and the robot camera parameter calculation device 5 can also realize each means as a function program in a computer, and the subject information calculation program and the robot camera parameter calculation can be performed by combining the function programs. It is also possible to operate as a program.

[Robot Camera Control System Operation]
Next, operations of the robot camera control system A including the subject information calculation device 1 and the robot camera parameter calculation device 5 according to the present invention will be described with reference to FIGS. 5 and 6 (refer to FIG. 1 as appropriate). FIG. 5 is a flowchart showing the subject information calculation operation of the subject information calculation apparatus according to the present invention. FIG. 6 is a flowchart showing the robot camera parameter calculation operation of the robot camera parameter calculation apparatus according to the present invention.

(Subject information calculation operation)
First, referring to FIG. 5 (refer to FIG. 1 as appropriate), the subject information calculation device 1 is used in the robot camera parameter calculation device 5 to provide information on the three-dimensional position of the subject and the size of the photographing region during memory shot recording. The subject information calculation operation for calculating the information for specifying the height will be described.

  The subject information calculation apparatus 1 inputs the information of the shooting position and the information of the camera parameters from the robot camera that has shot the subject in the desired shooting area at the time of recording the memory shot by the robot camera data collection unit 11 (Step S1). S11). Subsequently, the subject information calculation apparatus 1 calculates the distance between the robot camera and the subject based on the focus value information input in step S11 by the camera subject distance calculation unit 12 (step S12).

  Then, the subject information calculation apparatus 1 uses the shooting area height calculation unit 13 based on the zoom value information input in step S11 and the distance information between the camera and the subject calculated in step S12. Information for specifying the size of the shooting area shot by the camera is calculated, and the information on the pan angle, tilt angle, and shooting position input in step S11 by the screen center position coordinate calculation unit 14 is calculated in step S12. Information indicating the three-dimensional position of the subject photographed by the robot camera is calculated based on the distance information between the camera and the subject, and is stored in the shot memory storage unit 52 of the robot camera parameter calculation device 5. (Step S13), the operation is terminated.

(Robot camera parameter calculation operation)
Further, referring to FIG. 6, robot camera parameter calculation device 5 uses the memory shot information generated by the subject information calculation operation shown in FIG. 5 to calculate camera parameters for reproducing the memory shot. The robot camera parameter calculation operation will be described.

  The robot camera parameter calculation device 5 inputs information on the shooting position of the robot camera that reproduces the memory shot by the robot camera data collection unit 51 (step S51).

  Subsequently, in the robot camera parameter calculation device 5, the robot camera drive data calculation unit 53 calculates the shooting position information input in step S51 and the memory calculated by the subject information calculation operation and stored in the shot memory storage unit 52. Based on the information on the three-dimensional position of the subject at the time of recording the shot and the information specifying the size of the shooting area, camera parameters of the robot camera that reproduces the memory shot are calculated (step S52).

  Here, the robot camera parameter calculation device 5 records the shooting position information input in step S51 by the distance calculation unit 53a of the robot camera drive data calculation unit 53 and the memory shot stored in the shot memory storage unit 52. The distance between the robot camera and the subject is calculated based on the information on the three-dimensional position of the subject at that time. The robot camera parameter calculation device 5 stores the distance information, the shooting position information input in step S51, and the shot memory storage unit 52 by the shooting direction calculation unit 53b of the robot camera drive data calculation unit 53. The information indicating the shooting direction is calculated based on the information on the three-dimensional position of the subject, and the focus calculation unit 53c calculates the focus value based on the information on the distance from the robot camera to the subject. The zoom calculation unit 53d calculates the zoom value based on the information for specifying the size of the shooting area at the time of recording the memory shot stored in the shot memory storage unit 52 and the information on the distance from the robot camera to the subject. calculate.

  Then, the robot camera parameter calculation device 5 controls the shooting direction and angle of view of the robot camera that reproduces the memory shot based on the camera parameters calculated in step S52 by the motor control unit 54 (step S53). End the operation.

  With the above operation, the robot camera control system A calculates the three-dimensional coordinates of the center of the imaging region R (see FIG. 3) and the height H of the imaging region R by the subject information calculation device 1, and the robot camera parameter The data is stored in the shot memory storage unit 52 of the calculation device 5. Then, the robot camera control system A uses the robot camera parameter calculation device 5 to capture an image identified from the three-dimensional coordinates of the center of the imaging region R stored in the shot memory storage unit 52 and the height H of the imaging region R. The shooting direction and angle of view of the robot camera C can be controlled in accordance with the shooting position so that the region R is shot.

  In this way, the robot camera control system A does not record the shooting position and camera parameters of the robot camera C by the subject information calculation device 1 during memory shot recording, but instead captures the shooting region R that is the composition of the screen. Information on the three-dimensional position of the subject, which is information for specifying, and information for specifying the size of the imaging region R are recorded. Then, the robot camera control system A reproduces the composition of the screen at the time of memory shot recording in the robot camera C by controlling the robot camera C so as to photograph the imaging region R by the robot camera parameter calculation device 5. It can be taken.

  For this reason, when the position of the robot camera C is exactly the same shooting position as that at the time of memory shot recording, the robot camera parameter calculation device 5 can cause the robot camera C to reproduce the same memory shot as at the time of recording. Even when the shooting position of the robot camera C changes from the time of memory shot recording, the robot camera parameter calculation device 5 keeps the center position and height H of the recorded shooting area R in the robot camera C. The region R can be photographed. Therefore, even when the position of the robot camera C is deviated from the presumed shooting position, it is not necessary to re-record a new memory shot, and the robot camera parameter calculation device 5 displays an image with the same composition on the robot camera C. It can be taken.

  For example, as shown in FIG. 7, when the robot camera C moves from right to left, the robot camera parameter calculation device 5 always moves the shooting direction to the center of the shooting region R even during the movement. On the other hand, it is possible to shoot at an angle of view such that the height of the shooting region R does not always change. Then, as shown in FIG. 7, when the bust shot of the male performer (subject) is set as the shooting region R, the robot camera parameter calculation device 5 takes the dolly shot holding the bust shot in the robot camera C. It can be taken. FIG. 7 is a schematic diagram schematically showing an example in which a dolly shot of a performer's bust shot is taken by a robot camera.

For example, when the imaging region R is as shown in FIG. 8A, and the robot camera C moves from the upper right to the lower left, the robot camera C is calculated by the robot camera parameter calculation device 5 as shown in FIG. from shot S _a taken from the right oblique imaging region R as shown in, shoot shots S _B obtained by photographing a photographing region R during the _movement, the shot S _C obtained by photographing a photographing region R from the bottom left in order. FIG. 8 is a schematic diagram schematically showing an example in which two robots are shot with a robot camera. FIG. 8A is a schematic diagram schematically showing an imaging region and an arrangement of robot cameras. b) is a schematic diagram schematically showing an example of a shot taken by a robot camera.

In this way, as shown in FIG. 8A, by setting the area including two persons as the imaging area R, the subject information calculation apparatus 1 can capture the imaging area R during the memory shot recording. Based on the shooting position and the camera parameters, the middle position between the two persons, which is the center of the shooting area R, and the height of the shooting area R including the two persons are calculated. Then, the robot camera parameter calculation device 5 always directs the shooting direction to the center position at the time of reproducing the memory shot, and the shots S _{A to} S _{C in} which the height of the shooting area R is maintained at the same height as that at the time of recording. In order to cause C to take a picture, shots from shot S _A can be made without causing two persons to deviate from the angle of view even while the robot camera C is moving, or to move the middle point of the two people from side to side on the screen on which the picture was taken. thereby shooting the image that changes smoothly until S _C.

  Further, for example, as shown in FIG. 9A, a shooting region R including a performer is set, and the robot camera C is moved from near to far (see FIG. 9B) of the performer or from near to far. Thus, it is possible to perform shooting (dolly-in, zoom-back) in which a person is approached or moved away while maintaining a certain size within the screen on which the image was captured. This dolly-in and zoom-back is a shooting technique used in dramas as a video effect that represents the emotions of a person, but if you try to do this manually, a complicated camera operation that requires a lot of control for the cameraman at the same time It is. FIG. 9 is a schematic diagram schematically showing an example in which a dolly-in shot is taken by a robot camera. FIG. 9A is an image of the shooting area and the arrangement of the robot camera when shooting from a position 7 m before the performer. (B) is a schematic diagram schematically showing the shooting area, the arrangement of the robot camera, and the shot shot when shooting from a position 1 m before the performer. It is.

At this time, the subject information calculation apparatus 1 calculates the center position and height of the shooting region R including the subject at the time of memory shot recording. Then, the robot camera parameter calculation device 5 always directs the photographing direction to the center position when reproducing the memory shot, and causes the robot camera C to photograph while holding the height of the photographing region R at the same height as when recording. According to the distance between the performer and the robot camera C, the shooting direction, the zoom amount, and the focus amount can be adjusted so that the size of the subject is kept constant in the shot screen. For example, as shown in FIG. 9 (a), the bust shot of the performer is set as the shooting region R, and from the position 7m before the performer to the position 1m before the performer as shown in FIG. 9 (b). When the dolly-in is photographed by bringing the robot camera closer, a shot S _D taken from 7 m before the performer (see FIG. 9A) and a shot S _E taken from 1 m before the performer (see FIG. 9B) Thus, although the size of the background on the screen changes, the performer can take a picture while maintaining a certain size.

  The configuration of the robot camera control system A has been described above, but the present invention is not limited to this. For example, here, the robot camera parameter calculation device 5 determines whether or not the robot camera parameter calculation device 5 determines the size of the shooting area calculated by the subject information calculation device 1 and information indicating the three-dimensional position of the subject. Thus, the control for photographing the photographing region is performed. Based on the information for specifying the size of the photographing region calculated by the subject information calculation apparatus 1 and the information indicating the three-dimensional position of the subject, The robot camera parameter calculation device 5 may control the robot camera to shoot different shooting areas obtained from the shooting area. That is, the robot camera parameter calculation device 5 may perform control to capture a different imaging area specified from the imaging area instead of reproducing the imaging area at the time of memory shot recording as it is.

Here, with reference to FIG. 10 (refer to FIG. 1 as appropriate), an example will be described in which the robot camera parameter calculation device 5 performs control to capture a shot of the performer's whole body from the performer's bust shot. Here, the height H of the imaging region R ₁ of the bust-shot performer calculated by the subject information calculating device 1, based on the position of the center O of the imaging region R _1, the robot camera parameter calculating unit 5 , by setting the imaging region R ₂ shots systemic of the performer, and that performs control to shoot the imaging region R ₂ to the robot camera. FIG. 10 is a schematic diagram schematically showing the shooting area of the performer's bust shot and the shooting area of the performer's whole body shot.

At this time, the shot in the memory storage unit 52, together with the position of the height H and the center O of the imaging region R ₁ calculated by the object information calculating device 1 is stored, the height of the imaging region R ₁ of the bust-shot the ratio R _v of the height of the imaging region R ₂ of the whole body for H, and the ratio R _O of the distance to the center of the imaging region R ₁ from the top of the imaging region R ₂ to the height of the imaging region R ₂ is stored in advance Suppose that Here, the position of the center O and the ratio R _v and ratio R _O is the information of the three-dimensional position of the object, the information and the height H and the ratio R _v to identify the size of the imaging region R _2. Then, the robot camera parameter calculation unit 5, the distance calculation unit 53a, and the information of the photographing position input from the robot camera data collecting unit 51, the height H of the imaging region R ₁ stored in the shot memory storage unit 52 based on the position of the center O, the height R _v · H robotic camera imaging region R ₂ to reproduce the memory shots, the position of the center O is from above the height R _v · H ratio R _O It obtains a center position of a position imaging region R _2, and calculates the distance between the imaging region R ₂ of the center position and the robot camera.

Also, the robot camera parameter calculation device 5 uses the shooting direction calculation unit 53b to detect the distance, the shooting position information input from the robot camera data collection unit 51, and the center O stored in the shot memory storage unit 52. based on the information of the center position of the position and the ratio R _v and ratio R _O and imaging obtained from the area R _2, calculates the pan angle and the tilt angle, the focus calculating section 53c, the imaging area R from the robot camera _The focus value is calculated on the basis of the information on the distance to the center of ₂ , and the photographing region R ₂ obtained from the height H and the ratio R _v stored in the shot memory storage unit 52 by the zoom calculation unit 53 d. the height R _v · H of, based on the information of the distance from the robot camera to the center of the imaging region R _2, and calculates the zoom value.

Next, referring to FIG. 11 (see FIG. 1 as appropriate), an example in which the robot camera parameter calculation device 5 performs control to photograph two shots of two performers from each bust shot of the two performers. Will be described. Here, based on the positions of the centers O ₁ and O ₂ of the performer's bust shot shooting areas R ₁ ′ and R ₂ ′ calculated by the subject information calculation apparatus 1, the robot camera parameter calculation apparatus 5 performs two-shot. The imaging region R ₃ ′ is set, and control is performed to cause the robot camera to image the imaging region R ₃ ′. FIG. 11 is a schematic diagram schematically showing a bust shot shooting area of each of the two performers and a two-shot shooting area of the two performers.

At this time, the shot memory storage unit 52 stores the positions of the centers O ₁ and O ₂ of the shooting regions R ₁ ′ and R ₂ ′ calculated by the subject information calculation device 1 and also stores the shooting region R ₃ ′. imaging region _{R 1} to the width ', _{R 2'} and the ratio _{R H} of the center _O 1, the distance of _{O 2,} taken from above the 'imaging region _{R 3} to the height of the' region _{R 3} of the center _O 1, _{O 2} The distance ratio R _O to the middle point O ₃ is stored in advance. Here, the positions of the centers O ₁ and O ₂ , the ratio R _H, and the ratio R _O are information on the three-dimensional position of the subject, and the positions of the centers O ₁ and O ₂ and the ratio R _H are the imaging region R _3. It becomes information specifying the size of '. Then, the robot camera parameter calculation device 5 uses the distance calculation unit 53a to input the shooting position information input from the robot camera data collection unit 51 and the positions of the centers O ₁ and O ₂ stored in the shot memory storage unit 52. based on the ratio R _H, the center O _1, the distance of the O ₂ divided by the ratio R _H shooting region R ₃ for height _'calculates the width of the photographing region R ₃ obtained from the _width' The center position of the imaging area R ₃ ′ where the position of the center point O ₃ of the centers O ₁ and O ₂ is the position of the ratio R _O from the top is obtained, and between the center position of the imaging area R ₃ ′ and the robot camera The distance is calculated.

Also, the robot camera parameter calculation device 5 uses the shooting direction calculation unit 53b to detect the distance, the shooting position information input from the robot camera data collection unit 51, and the center O stored in the shot memory storage unit 52. ₁ , the pan angle and the tilt angle are calculated based on the position of O ₂ , the ratio _RH, and the information on the center position of the imaging region R ₃ ′ determined from the ratio R _O, and the focus calculation unit 53c The focus value is calculated based on the distance information from the robot camera to the center of the imaging region R ₃ ′, and the positions of the centers O ₁ and O ₂ stored in the shot memory storage unit 52 are further calculated by the zoom calculation unit 53d. the ratio _'and height, from the robot camera imaging region R _3' R _H and the photographing region R ₃ obtained from, based on the distance information to the center of, calculate the zoom value To.

  In this way, the robot camera parameter calculation device 5 performs control to capture a different shooting area specified from the shooting area at the time of memory shot recording, so that a new memory shot other than the shot shot at the time of memory shot recording can be obtained. It is possible to actually shoot and generate a memory shot without recording it, and let the robot camera shoot it.

It is the block diagram which showed the structure of the robot camera control system provided with the to-be-photographed object information calculation apparatus and robot camera parameter calculation apparatus of this invention. It is a table | surface which shows the relationship between the focus value of the robot camera referred by the to-be-photographed object information calculation apparatus and robot camera parameter calculation apparatus of this invention, and the distance of a camera and a to-be-photographed object. It is a schematic diagram which shows typically the example of the imaging | photography area | region at the time of the memory shot recording by the to-be-photographed object information calculation apparatus of this invention. Explanatory drawing for demonstrating the method for the imaging | photography area height calculation part of the to-be-photographed information calculation apparatus of this invention to calculate the information which specifies the magnitude | size of an imaging | photography area | region, (a) is from the vertical direction (Z-axis direction). FIG. 5B is a schematic diagram schematically showing the arrangement of the camera and the shooting area viewed from the horizontal direction (Y-axis direction). FIG. . 3 is a flowchart showing subject information calculation operation of the subject information calculation apparatus according to the present invention. It is the flowchart which showed the robot camera parameter calculation operation | movement of the robot camera parameter calculation apparatus in this invention. It is the schematic diagram which showed typically the example which image | photographs the dolly shot of a performer's bust shot with a robot camera in the robot camera control system provided with the to-be-photographed object information calculation apparatus and robot camera parameter calculation apparatus of this invention. The schematic diagram which showed typically the example which image | photographs the shot of two performers with a robot camera in the robot camera control system provided with the to-be-photographed object information calculation apparatus and robot camera parameter calculation apparatus of this invention, (a) is imaging | photography. FIG. 5B is a schematic diagram schematically showing an example of a shot photographed by the robot camera. FIG. In the robot camera control system including the subject information calculation device and the robot camera parameter calculation device of the present invention, a schematic diagram schematically showing an example of taking a dolly-in shot by the robot camera, (a) is 7 m before the performer The schematic diagram which showed typically the imaging | photography area | region when image | photographing from the position of this, the arrangement | positioning of a robot camera, and the image | photographed shot, (b) is an imaging | photography area | region and robot when image | photographing from the position of 1 m before a performer. It is the schematic diagram which showed typically the arrangement | positioning of a camera, and the image | photographed shot. It is the schematic diagram which showed typically the imaging | photography area | region of the performer's bust shot and the imaging | photography area | region of the said performer's whole body shot in the robot camera parameter calculation apparatus of this invention. It is the schematic diagram which showed typically the imaging | photography area | region of each bust shot of two performers, and the two-shot imaging | photography area | region of these two performers in the robot camera parameter calculation apparatus of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Subject information calculation apparatus 11 Robot camera data collection part (Subject photography camera information input means)
12 Camera subject distance calculation unit (distance calculation means)
13 Imaging area height calculation unit (imaging area calculation means)
14 Screen center position coordinate calculation unit (subject position calculation means)
5 Robot Camera Parameter Calculation Device 51 Robot Camera Data Collection Unit (Camera Position Input Means)
52 Shot memory storage (subject information storage means, storage device)
53 Robot Camera Drive Data Calculation Unit 53a Distance Calculation Unit (Subject Distance Calculation Unit)
53b Shooting direction calculation unit (shooting direction calculation means)
53c Focus calculation unit (focus value calculation means)
53d Zoom calculation unit (zoom value calculation means)
54 Motor controller

Claims (4)

A robot camera parameter calculation device that calculates information on a shooting direction in a shooting by a robot camera, a focus value, and a zoom value,
Camera position input means for inputting information on the three-dimensional position of the robot camera;
Subject information storage means for storing information on the three-dimensional position of the subject and information for specifying the size of the shooting area of the shooting shot for shooting the subject;
From the robot camera to the subject based on the information on the three-dimensional position of the robot camera input by the camera position input means and the information on the three-dimensional position of the subject stored in the subject information storage means. Subject distance calculating means for calculating the distance of
Information on the three-dimensional position of the robot camera input by the camera position input means, information on the three-dimensional position of the subject stored in the subject information storage means, and the distance calculated by the subject distance calculation means A shooting direction calculation means for calculating information indicating the shooting direction based on the direction from the robot camera to the subject as a shooting direction;
A focus value calculating means for calculating a focus value focused on the subject based on the distance calculated by the subject distance calculating means;
The photographing for photographing the photographing area of the size at the position of the subject based on the distance calculated by the subject distance calculating means and the information specifying the size of the photographing area stored in the subject information storage means. Zoom value calculation means for calculating the zoom value of the robot camera;
A robot camera parameter calculation device comprising: A subject information calculation device for calculating information on a three-dimensional position of a subject used in the robot camera parameter calculation device according to claim 1 and information for specifying a size of a photographing region of a photographing shot for photographing the subject. And
Subject photographing camera information input means for inputting information on a three-dimensional position, information on a photographing direction, a focus value, and a zoom value of a robot camera that photographs the subject in the photographing region;
Distance calculating means for calculating the distance between the robot camera and the subject based on the focus value input from the subject photographing camera information input means;
A shooting area calculation means for calculating information for specifying the size of the shooting area based on the zoom value input from the subject shooting camera information input means and the distance calculated by the distance calculation means;
The three-dimensional position of the robot camera based on the three-dimensional position information and photographing direction information of the robot camera input from the subject photographing camera information input means and the distance calculated by the distance calculating means. Subject position calculating means for calculating information on the position as a three-dimensional position of the subject at a position that is separated from the shooting direction by the distance;
A subject information calculation apparatus comprising: In order to calculate the shooting direction information, focus value and zoom value in shooting by the robot camera,
Camera position input means for inputting information on the three-dimensional position of the robot camera;
Based on the information on the three-dimensional position of the robot camera input by the camera position input means and the information on the three-dimensional position of the subject stored in the storage device, the distance from the robot camera to the subject is determined. Subject distance calculation means for calculating,
Based on the three-dimensional position information of the robot camera input by the camera position input means, the three-dimensional position information of the subject stored in the storage device, and the distance calculated by the subject distance calculation means. Shooting direction calculation means for calculating information indicating the shooting direction with the direction from the robot camera to the subject as the shooting direction;
A focus value calculating means for calculating a focus value focused on the subject based on the distance calculated by the subject distance calculating means;
Based on the distance calculated by the subject distance calculation means and information specifying the size of the shooting area for shooting the subject stored in the storage device, the shooting area of the size is shot at the position of the subject. Zoom value calculating means for calculating a zoom value of the robot camera for
A robot camera parameter calculation program characterized by functioning as A computer for calculating information on a three-dimensional position of a subject used in the robot camera parameter calculation apparatus according to claim 1 and information for specifying a size of a photographing region of a photographing shot for photographing the subject,
Subject photographing camera information input means for inputting information on a three-dimensional position, information on a photographing direction, a focus value, and a zoom value of a robot camera that photographs the subject in the photographing region;
Distance calculating means for calculating the distance between the robot camera and the subject based on the focus value input from the subject photographing camera information input means;
A shooting area calculation means for calculating information for specifying the size of the shooting area based on the zoom value input from the subject shooting camera information input means and the distance calculated by the distance calculation means;
The three-dimensional position of the robot camera based on the three-dimensional position information and photographing direction information of the robot camera input from the subject photographing camera information input means and the distance calculated by the distance calculating means. An object position calculating means for calculating information on the position as a three-dimensional position of the object at a position separated from the shooting direction by the distance.
A program for calculating subject information.

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