JPH05137045A - Target detector - Google Patents
Target detectorInfo
- Publication number
- JPH05137045A JPH05137045A JP3295680A JP29568091A JPH05137045A JP H05137045 A JPH05137045 A JP H05137045A JP 3295680 A JP3295680 A JP 3295680A JP 29568091 A JP29568091 A JP 29568091A JP H05137045 A JPH05137045 A JP H05137045A
- Authority
- JP
- Japan
- Prior art keywords
- target
- candidate
- zoom
- image
- image pickup
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、視覚機能を有する製品
の目標の検出に適用される目標検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target detecting device applied to detect a target of a product having a visual function.
【０００２】[0002]
【従来の技術】従来の目標検出装置においては、図３に
示すように撮像装置０１が接続された目標検出装置０２
を用い、撮像装置０１が画像取得を単一の画角で行な
い、その画像を入力した目標検出装置０２が目標検出を
行っていた。2. Description of the Related Art In a conventional target detecting device, a target detecting device 02 to which an image pickup device 01 is connected as shown in FIG.
The image pickup device 01 used to obtain an image at a single angle of view, and the target detection device 02 that input the image detected the target.
【０００３】[0003]
【発明が解決しようとする課題】従来の目標検出におい
ては、目標物が遠距離に存在する場合、画面上における
目標の大きさが小さく、正確な目標識別が困難であっ
た。また、正確な目標識別を行なうために望遠レンズを
用いた場合には、首振り操作をしないと捜索範囲が狭く
なるという課題があった。In the conventional target detection, when the target exists at a long distance, the size of the target on the screen is small and it is difficult to accurately identify the target. Further, when a telephoto lens is used for accurate target identification, there is a problem that the search range becomes narrow unless the user swings.
【０００４】本発明は上記の課題を解決しようとするも
のである。The present invention is intended to solve the above problems.
【０００５】[0005]
【課題を解決するための手段】本発明の目標検出装置
は、外界の画像をビデオ信号に変換する撮像装置と、前
記撮像装置が出力する画像データを入力して目標物の候
補を検出する目標候補検出装置と、前記目標候補検出装
置より目標候補存在位置を入力し候補目標を追尾する追
尾装置と、前記追尾装置により制御されて首振りを行う
と共にズームアップを行なうズームアップ撮像装置と、
前記ズームアップ撮像装置が出力する画像データを入力
して候補目標の識別を行なう目標識別装置を備えたこと
を特徴としている。A target detecting apparatus of the present invention is a target for detecting a candidate for a target by inputting an image pickup apparatus for converting an image of the outside world into a video signal and image data output by the image pickup apparatus. A candidate detection device, a tracking device that inputs a target candidate existing position from the target candidate detection device and tracks a candidate target, and a zoom-up imaging device that is controlled by the tracking device to perform head swing and zoom-up.
It is characterized in that a target identifying device for identifying a candidate target by inputting image data output from the zoom-up imaging device is provided.
【０００６】[0006]
【作用】上記において、撮像装置は外界を撮影して画像
データに変換し、この画像データを入力した目標候補検
出装置は目標物の候補を検出して画面上の目標候補存在
位置を追尾装置に入力する。In the above, the image pickup device photographs the outside world and converts it into image data, and the target candidate detection device which inputs this image data detects the candidate of the target object and sets the target candidate existing position on the screen as the tracking device. input.
【０００７】上記目標候補存在位置を入力した追尾装置
はこの位置とカメラ光軸が合致するようにズームアップ
撮像装置の角度を調整し、ズームアップ撮像装置は候補
目標が識別可能な大きさに拡大されるまでズームアップ
を行い、その画像データを出力する。The tracking device which has input the target candidate existing position adjusts the angle of the zoom-up image pickup device so that this position and the optical axis of the camera coincide with each other, and the zoom-up image pickup device enlarges the size so that the candidate target can be identified. Zoom up until it is displayed and output the image data.
【０００８】上記ズームアップされた画像データは目標
識別装置に入力され、目標識別装置が目標の識別を行
う。The zoomed-up image data is input to the target identifying device, and the target identifying device identifies the target.
【０００９】上記目標識別装置により識別される候補目
標が複数存在する場合には、１つの候補目標の識別を終
了すると、再捜索の処理は省略され、他の候補目標につ
いて順次ズームアップと識別が繰返される。When there are a plurality of candidate targets identified by the target identifying apparatus, when the identification of one candidate target is completed, the re-search process is omitted, and the other candidate targets are sequentially zoomed in and identified. Repeated.
【００１０】上記により、候補目標がズームアップされ
て識別されるため、遠距離の目標物の識別精度が向上
し、目標探知距離の延長が可能となるとともに、候補目
標の識別は順次自動的に行われるため、目標識別の能率
向上が可能となる。As described above, since the candidate target is zoomed up and identified, the accuracy of identifying the target object at a long distance is improved, the target detection distance can be extended, and the candidate targets are automatically identified sequentially. As a result, the efficiency of target identification can be improved.
【００１１】[0011]
【実施例】本発明の一実施例を図１に示す。図１に示す
本実施例は、外界の画像をビデオ信号に変換する撮像装
置１、同撮像装置１より画像データを入力し目標物の候
補を検出する目標候補検出装置２、同検出装置２より目
標候補存在位置を入力し候補目標を追尾する追尾装置
３、同追尾装置３により制御されて目標候補存在位置を
その光軸に合致させ候補目標画像をZoom Up する Zoom
Up撮像装置４、および同撮像装置４より拡大画像を入力
して目標識別を行う目標識別装置５を備えている。FIG. 1 shows an embodiment of the present invention. In the present embodiment shown in FIG. 1, an image pickup apparatus 1 for converting an image of the outside world into a video signal, a target candidate detection apparatus 2 for inputting image data from the image pickup apparatus 1 to detect a candidate for a target, and a detection apparatus 2 for the same. A tracking device 3 that inputs a target candidate existing position and tracks a candidate target, and is controlled by the tracking device 3 to match the target candidate existing position with its optical axis and zoom up the candidate target image Zoom Up
It is provided with an Up image pickup device 4 and a target identification device 5 for inputting an enlarged image from the image pickup device 4 and performing target identification.
【００１２】上記において、外界を撮影する撮像装置１
により画像データが取得され、その画像データを受けて
目標候補検出装置２で目標物の候補を検出し、その画面
上の位置を記憶する。この時点では遠距離の場合目標の
大きさが小さく、目標識別を正確に行なうことは困難な
ため、Zoom Up 撮像装置４により図２に示すように目標
候補領域の拡大画像を得る。In the above, the image pickup apparatus 1 for photographing the outside world
Thus, the image data is acquired, the target candidate detecting device 2 receives the image data, detects the candidate of the target object, and stores the position on the screen. At this point, in the case of a long distance, the size of the target is small and it is difficult to accurately identify the target. Therefore, the Zoom Up imaging device 4 obtains an enlarged image of the target candidate region as shown in FIG.
【００１３】この場合、目標物の移動や撮像装置のぶれ
などを考慮し、カメラ光軸を候補目標に合致させるよう
に追尾装置３がZoom Up 撮像装置４を制御して候補目標
の正確な捕捉を行なった後、Zoom Up を行なう。In this case, the tracking device 3 controls the Zoom Up image pickup device 4 so as to match the camera optical axis with the candidate target in consideration of the movement of the target object and the blurring of the image pickup device, and the accurate acquisition of the candidate target. And then Zoom Up.
【００１４】Zoom Up 撮像装置４により得られた拡大画
像は目標識別装置５に送られ、目標識別装置５はこの拡
大画像を使用し、目標識別を行なうことによって正確に
目標が識別され目標検出が的確になされる。The magnified image obtained by the Zoom Up imaging device 4 is sent to the target identifying device 5, and the target identifying device 5 uses this magnified image to perform the target identification to accurately identify the target and detect the target. Be done exactly.
【００１５】上記候補目標が複数存在する場合について
は、目標識別装置５より識別終了信号が目標候補検出装
置２へ送られ、他の候補目標について追尾装置３、Zoom
Up撮像装置４及び目標識別装置５が作動し、Zoom Up
と目標識別が繰返され、再捜索の処理は省略される。When there are a plurality of candidate targets, an identification end signal is sent from the target identifying device 5 to the target candidate detecting device 2, and the tracking devices 3 and Zoom are used for other candidate targets.
Up The image pickup device 4 and the target identification device 5 are activated, and Zoom Up
The target identification is repeated, and the rediscovery process is omitted.
【００１６】上記により、遠距離の目標の識別精度が向
上し、目標探知距離の延長が可能となるとともに、目標
識別の能率向上が可能となった。As described above, the accuracy of identifying a long-distance target is improved, the target detection distance can be extended, and the efficiency of target identification can be improved.
【００１７】[0017]
【発明の効果】本発明の目標検知装置は、撮像装置が取
得した画像データより目標候補検出装置が目標候補存在
位置を検出し、この位置を入力した追尾装置がズームア
ップ撮像装置を候補目標の方向へ向け、ズームアップ撮
像装置がズームアップして取得した画像データを目標識
別装置が入力して候補目標の識別を行うことによって、
候補目標がズームアップされて識別されるため、遠距離
の目標物の識別精度が向上し、目標探知距離の延長が可
能となるとともに、候補目標の識別は順次自動的に行わ
れるため、目標識別の能率向上が可能となる。In the target detecting device of the present invention, the target candidate detecting device detects the target candidate existing position from the image data acquired by the image capturing device, and the tracking device which has input this position detects the zoom-up image capturing device as the candidate target. In the direction, the target identifying device inputs the image data obtained by the zoom-up imaging device zooming up to identify the candidate target.
Since the candidate targets are zoomed up and identified, the accuracy of identification of long-distance targets is improved, the target detection distance can be extended, and the candidate targets are automatically identified in sequence. It is possible to improve the efficiency of.
【図１】本発明の一実施例の説明図である。FIG. 1 is an explanatory diagram of an embodiment of the present invention.
【図２】上記一実施例に係る画像の説明図である。FIG. 2 is an explanatory diagram of an image according to the above embodiment.
【図３】従来の装置の説明図である。FIG. 3 is an explanatory diagram of a conventional device.
１ 撮像装置 ２ 目標候補検出装置 ３ 追尾装置 ４ ズームアップ撮像装置 ５ 目標識別装置 1 Imaging Device 2 Target Candidate Detection Device 3 Tracking Device 4 Zoom-up Imaging Device 5 Target Identification Device
Claims (1)
装置と、前記撮像装置が出力する画像データを入力して
目標物の候補を検出する目標候補検出装置と、前記目標
候補検出装置より目標候補存在位置を入力し候補目標を
追尾する追尾装置と、前記追尾装置により制御されて首
振りを行うと共にズームアップを行なうズームアップ撮
像装置と、前記ズームアップ撮像装置が出力する画像デ
ータを入力して候補目標の識別を行なう目標識別装置を
備えたことを特徴とする目標検出装置。1. An image pickup device for converting an image of the outside world into a video signal, a target candidate detection device for inputting image data output by the image pickup device to detect a candidate for a target, and a target from the target candidate detection device. A tracking device that inputs a candidate existing position and tracks a candidate target, a zoom-up imaging device that performs a swing and zoom-up under the control of the tracking device, and image data that the zoom-up imaging device outputs are input. A target detecting device comprising a target identifying device for identifying a candidate target as a target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3295680A JPH05137045A (en) | 1991-11-12 | 1991-11-12 | Target detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3295680A JPH05137045A (en) | 1991-11-12 | 1991-11-12 | Target detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05137045A true JPH05137045A (en) | 1993-06-01 |
Family
ID=17823799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3295680A Withdrawn JPH05137045A (en) | 1991-11-12 | 1991-11-12 | Target detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05137045A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001024515A1 (en) * | 1999-09-30 | 2001-04-05 | Koninklijke Philips Electronics N.V. | Tracking camera |
| WO2009110204A1 (en) * | 2008-03-05 | 2009-09-11 | パナソニック株式会社 | Device selection control device |
| CN107527464A (en) * | 2016-06-22 | 2017-12-29 | 杭州海康威视数字技术股份有限公司 | A kind of determination method and device of movement locus |
-
1991
- 1991-11-12 JP JP3295680A patent/JPH05137045A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001024515A1 (en) * | 1999-09-30 | 2001-04-05 | Koninklijke Philips Electronics N.V. | Tracking camera |
| WO2009110204A1 (en) * | 2008-03-05 | 2009-09-11 | パナソニック株式会社 | Device selection control device |
| CN107527464A (en) * | 2016-06-22 | 2017-12-29 | 杭州海康威视数字技术股份有限公司 | A kind of determination method and device of movement locus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Application deemed to be withdrawn because no request for examination was validly filed |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19990204 |