Patent Publication Number: US-11042740-B2

Title: Image processing device, flight vehicle, and computer-readable storage medium

Description:
The contents of the following patent applications are incorporated herein by reference: 
     NO. 2018-027905 filed in JP on Feb. 20, 2018, and 
     NO. PCT/JP2019/003219 filed in WO on Jan. 30, 2019. 
     BACKGROUND 
     1. Technical Field 
     The present invention relates to an image processing device, a flight vehicle, and a computer-readable storage medium. 
     2. Related Art 
     A flying object monitoring system that detects a flying object flying into a monitoring region has been known (for example, refer to Patent Literature 1). 
     PRIOR ART LITERATURE 
     Patent Literature 
     
         
         [Patent Literature 1] Japanese Unexamined Patent Application Publication No. 2017-167870 
       
    
     Technical Problem 
     It is desirable to provide a technique capable of appropriately detecting an unrecognizable flying object. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration describing image processing by an image processing device  100 . 
         FIG. 2  schematically shows an example of a flight vehicle  200 . 
         FIG. 3  schematically shows an example of a hardware configuration of the flight vehicle  200 . 
         FIG. 4  schematically shows an example of a processing flow executed by the flight vehicle  200 . 
         FIG. 5  schematically shows an example of a functional configuration of the flight vehicle  200 . 
         FIG. 6  schematically shows examples of a flight vehicle  400  and a flight vehicle  500 . 
         FIG. 7  schematically shows examples of hardware configurations of the flight vehicle  400 , the flight vehicle  500 , and a ground station  300 . 
         FIG. 8  schematically shows an example of a processing flow executed by the ground station  300 . 
         FIG. 9  schematically shows an example of a functional configuration of the ground station  300 . 
         FIG. 10  is an illustration describing tilt correction for an image  430  and an image  530  obtained by the flight vehicle  400  and the flight vehicle  500 . 
         FIG. 11  is an illustration describing a detection accuracy of a flying object  800 . 
         FIG. 12  schematically shows an example of a communication environment of the flight vehicle  200 . 
         FIG. 13  schematically shows an example of communication environments of the flight vehicle  400  and the flight vehicle  500 . 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for means to solve the problem in the invention. 
       FIG. 1  is an illustration describing image processing by an image processing device  100 . The image processing device  100  acquires, from a camera  10 , an image  14  captured by the camera  10  which captures an image from a first altitude toward a direction of an altitude lower than the first altitude. The image processing device  100  may receive the image  14  from the camera  10  via a wired connection. The image processing device  100  may also receive the image  14  from the camera  10  via a wireless connection. The image processing device  100  may also receive the image  14  from the camera  10  via any network. The first altitude may be an altitude of the camera  10 . The camera  10  is, for example, a camera that is mounted on a flight vehicle to capture the ground surface. The camera  10  may be a camera that is arranged on an upper floor of a high-rise building, for example, the top floor, to capture the ground surface. The camera  10  may be a visible light camera. The camera  10  may be an infrared camera. The camera  10  may be a multispectral camera. The camera  10  may be a so-called radar. 
     Further, the image processing device  100  acquires, from a camera  20 , an image  24  captured by the camera  20  which captures an image from a second altitude toward a direction of an altitude lower than the second altitude. The image processing device  100  may receive the image  24  from the camera  20  via a wired connection. The image processing device  100  may also receive the image  24  from the camera  20  via a wireless connection. The image processing device  100  may receive the image  24  from the camera  20  via any network. The second altitude may be an altitude of the camera  20 . The camera  20  is, for example, a camera that is mounted on a flight vehicle to capture the ground surface, and the camera  20  may also be a camera that is arranged on an upper floor of a high-rise building, for example, the top floor, to capture the ground surface. The camera  20  may be a visible light camera. The camera  20  may be an infrared camera. The camera  20  may be a multispectral camera. The camera  20  may be a so-called radar. 
     The image processing device  100  detects a flying object at an altitude lower than the first altitude and the second altitude by using the image  14  including a first region as a subject, and the image  24  including the first region as a subject. When an image-capturing range  12  of the image  14  and an image-capturing range  22  of the image  24  are the same, the first region may be a whole image of the image  14  and the image  24 . When the image-capturing range  12  of the image  14  and the image-capturing range  22  of the image  24  deviate from each other, the first region may be a region commonly included in the image  14  and the image  24 . 
     The camera  10  and the camera  20  are distant from each other in a horizontal direction, and a subject at a higher altitude among subjects included in the image  14  and the image  24  is located more differently in the image  14  and the image  24 . In  FIG. 1 , an altitude of a flying object  40  is higher than those of other subjects, and a location of a flying object  16  in the image  14  and a location of a flying object  26  in the image  24  deviate from each other. 
     The image processing device  100  detects the flying object based on a difference between the first region in the image  14  and the first region in the image  24 . For example, as exemplified in  FIG. 1 , the image processing device  100  generates a difference image  30  between the image  14  and the image  24 , and when it is possible to determine that the flying object  16  and the flying object  26 , which are extracted as the difference, are the same object, the image processing device  100  detects the flying object  16  and the flying object  26  as one flying object. Captured time of the image  14  and the image  24  may be the same. 
     The image processing device  100  may detect the flying object based on the difference between the first region in the image  14  and the first region in the image  24 , and information on topographies and buildings within a range corresponding to the first region in map data including the information on the topographies and the buildings. Among the subjects of the image  14  and the image  24 , in addition to the flying object  16  and the flying object  26 , a high-rise building, a mountain, and the like which have relatively high altitudes are detected as the difference; however, among target objects detected as the difference, the image processing device  100  may exclude the high-rise building, the mountain, and the like which are included in the map data. This makes it possible to improve a detection accuracy of the flying object  16  and the flying object  26 . 
     The image processing device  100  may identify the flying object based on at least any of the image captured by the camera  10  and the image captured by the camera  20 . The image processing device  100  may identify the flying object based on at least any of a shape of the flying object and a movement of the flying object. For example, the image processing device  100  identifies whether the flying object is an unmanned aerial vehicle such as a drone. The image processing device  100  also identifies, for example, whether the flying object is a bird. When the flying object is the bird, and the camera  10  and the camera  20  are the infrared camera and a hyperspectral camera, the image processing device  100  may identify a species of the bird, based on at least any of the image  14  and the image  24 . 
     The image processing device  100  may derive at least any of a flight speed, a flight direction, and a flight route prediction of the flying object, based on at least any of the image captured by the camera  10  and the image captured by the camera  20 . For example, the image processing device  100  derives the flight speed and the flight direction of the flying object from temporally continuous images. The image processing device  100  also derives, for example, the flight route prediction from the derived flight speed and the flight direction. 
       FIG. 2  schematically shows an example of a flight vehicle  200 . The flight vehicle  200  may function as the image processing device  100 . The flight vehicle  200  has a camera  210  and a camera  220 . The camera  210  is arranged at one end of a wing of the flight vehicle  200 , and the camera  220  is arranged at the other end of the wing of the flight vehicle  200 . The camera  210  and the camera  220  may be examples of the camera  10  and the camera  20 . The flight vehicle  200  shown in  FIG. 2  is a stratospheric platform having a propeller, a solar panel, a battery, and an antenna. In  FIG. 2 , a case where the flight vehicle  200  is the stratospheric platform will be described as an example; however, the flight vehicle  200  is not limited thereto and may be an airplane, an unmanned aerial vehicle, a hot air balloon, and the like. When the flight vehicle  200  has a long shape in the longitudinal direction, the camera  210  may be arranged at a front end of the flight vehicle  200  and the camera  220  may be arranged at a rear end of the flight vehicle  200 . 
     The flight vehicle  200  communicates with a network  80  via a ground station  300 . The network  80  includes, for example, the Internet and a mobile phone network. 
     The flight vehicle  200  detects the flying object from images captured by the camera  210  and the camera  220 . When the flight vehicle  200  detects the flying object, the flight vehicle  200  may transmit a warning to any communication equipment via the ground station  300  and the network  80 . The flight vehicle  200  may further transmit, to the communication equipment, the image of the flying object, and the flight speed, the flight direction, the flight route prediction, and the like of the flying object. 
       FIG. 3  schematically shows an example of a hardware configuration of the flight vehicle  200 . The flight vehicle  200  includes a flight control CPU (Central Processing Unit)  202 , a communication device  204 , an antenna  205 , a DB (DataBase)  206 , the camera  210 , the camera  220 , and an image processing CPU  230 . The flight control CPU  202 , the communication device  204 , the DB  206 , and the image processing CPU  230  are connected via a data bus  208 . 
     The flight control CPU  202  controls flight of the flight vehicle  200 . The communication device  204  executes communication via the antenna  205 . The communication device  204  communicates, for example, with the ground station  300  via the antenna  205 . 
     The DB  206  stores various types of data. The DB  206  stores, for example, map data including the information on topographies and buildings. The DB  206  stores, for example, map data received by the communication device  204  from any communication equipment via the ground station  300  and the network  80 . The DB  206  may store the image captured by the camera  210 . The DB  206  may store the image captured by the camera  220 . 
     The image processing CPU  230  processes the image captured by the camera  210  and the image captured by the camera  220 . The image processing CPU  230  detects the flying object at a lower altitude than that of the flight vehicle  200 , based on the difference between the first region in the image captured by the camera  210  and the first region in the image captured by the camera  220 . 
       FIG. 4  schematically shows an example of a processing flow executed by the flight vehicle  200 . The flight vehicle  200  regularly executes, for example, the processing shown in  FIG. 4 . The flight vehicle  200  may execute the processing shown in  FIG. 4  in response to receiving an instruction from the ground station  300 . 
     In step (the step may be abbreviated as S)  102 , the camera  210  and the camera  220  capture the images. In S 104 , the image processing CPU  230  corrects the images captured by the camera  210  and the camera  220 . For example, the image processing CPU  230  performs tilt correction on the image. 
     In S 106 , the image processing CPU  230  collates the images corrected in S 104 . The image processing CPU  230  may refer to the map data stored in the DB  206  and exclude the known buildings, mountains, and the like, from the collated images. 
     In S 108 , the image processing CPU  230  determines whether there is an unrecognizable flying object in the image. If yes, the processing proceeds to S 110 , otherwise, the processing proceeds to S 112 . In S 110 , the image processing CPU  230  causes the communication device  204  to issue an alert to preset equipment via the ground station  300  and the network  80 , and to transmit an image of the unrecognizable flying object. 
     In S 112 , a determination is made over whether to complete the processing. If no, the processing returns to S 102 , and if yes, the processing is completed. 
       FIG. 5  schematically shows an example of a functional configuration of the image processing CPU  230 . The image processing CPU  230  has an image acquisition unit  232 , a flying object detection unit  234 , a map data reference unit  236 , an object identification unit  238 , a flight information derivation unit  240 , an altitude derivation unit  242 , and a transmission control unit  244 . 
     The image acquisition unit  232  acquires the image captured by the camera  210 . The image acquisition unit  232  acquires the image captured by the camera  220 . 
     The flying object detection unit  234  detects the flying object based on the image acquired by the image acquisition unit  232 . The map data reference unit  236  refers to the map data stored in the DB  206 . The flying object detection unit  234  may detect the flying object based on the image acquired by the image acquisition unit  232  and the map data referenced by the map data reference unit  236 . 
     The object identification unit  238  identifies the flying object detected by the flying object detection unit  234 , based on the images which are captured by the camera  210  and the camera  220  and which are acquired by the image acquisition unit  232 . The object identification unit  238  determines, for example, whether the flying object is an unmanned aerial vehicle. The object identification unit  238  may identify whether the flying object is a bird. 
     The flight information derivation unit  240  derives at least any of the flight speed, the flight direction, and the flight route prediction of the flying object detected by the flying object detection unit  234 , based on the images which are captured by the camera  210  and the camera  220  and which are acquired by the image acquisition unit  232 . 
     The altitude derivation unit  242  derives the altitude of the flying object detected by the flying object detection unit  234 . For example, the altitude derivation unit  242  derives the altitude of the flying object based on a distance from the camera  210  to the flying object, and the altitude of the camera  210 . For example, the altitude derivation unit  242  sets an altitude measured by an altimeter which the flight vehicle  200  includes to be the altitude of the camera  210 . Further, for example, the altitude derivation unit  242  applies a well-known method such as a method using triangulation to the image captured by the camera  210  and the image captured by the camera  220  so as to derive the distance between the camera  210  and the flying object. Then, the altitude derivation unit  242  derives the altitude of the flying object by subtracting the distance between the camera  210  and the flying object from the altitude of the camera  210 . 
     The transmission control unit  244  causes the communication device  204  to transmit various pieces of information. For example, when the flying object detection unit  234  detects the flying object, the transmission control unit  244  causes the communication device  204  to transmit warning information toward preset communication equipment. The transmission control unit  244  may be an example of a warning output unit. The transmission control unit  244  may cause the communication device  204  to transmit the identification result obtained by the object identification unit  238 . The transmission control unit  244  may cause the communication device  204  to transmit the information derived by the flight information derivation unit  240 . The transmission control unit  244  may cause the communication device  204  to transmit the altitude derived by the altitude derivation unit  242 . 
     Note that  FIG. 2  to  FIG. 5  have described the examples in which the flight vehicle  200  functions as the image processing device  100 ; however, the present invention is not limited thereto. For example, the ground station  300  may function as the image processing device  100 . In this case, the ground station  300  receives the images captured by the camera  210  and the camera  220  from the flight vehicle  200 , and detects the flying object based on the received images. The communication equipment connected to the network  80  may also, for example, function as the image processing device  100 . In this case, the communication equipment receives the images captured by the camera  210  and the camera  220  via the flight vehicle  200 , the ground station  300 , and the network  80 , and detects the flying object based on the received images. 
       FIG. 6  schematically shows examples of a flight vehicle  400  and a flight vehicle  500 . The flight vehicle  400  has a camera  410 . The camera  410  may be an example of the camera  10 . The flight vehicle  500  has a camera  510 . The camera  510  may be an example of the camera  20 . The flight vehicle  400  and flight vehicle  500  shown in  FIG. 6  are stratospheric platforms. In  FIG. 6 , a case where the flight vehicle  400  and the flight vehicle  500  are the stratospheric platforms will be described as an example; however, the flight vehicle  400  and the flight vehicle  500  are not limited thereto and may be airplanes, unmanned aerial vehicles, hot air balloons, and the like. 
     The flight vehicle  400  communicates with the network  80  via the ground station  300 . The flight vehicle  500  communicates with the network  80  via a ground station  600 . The ground station  300  may function as the image processing device. 
     The ground station  300  receives an image captured by the camera  410  from the flight vehicle  400 . Further, the ground station  300  receives an image captured by the camera  510  via the flight vehicle  500 , the ground station  600 , and the network  80 . The ground station  300  detects the flying object from the image captured by the camera  410  and the image captured by the camera  510 . When the ground station  300  detects the flying object, the ground station  300  may transmit a warning to any communication equipment via the network  80 . The ground station  300  may further transmit, to the communication equipment, the image of the flying object, and the flight speed, the flight direction, the flight route prediction, and the like of the flying object. 
       FIG. 7  schematically shows examples of hardware configurations of the flight vehicle  400 , the flight vehicle  500 , and a ground station  300 . The flight vehicle  400  includes a flight control CPU  402 , a communication device  404 , an antenna  405 , the camera  410 , and an image processing CPU  420 . The flight control CPU  402 , the communication device  404 , and the image processing CPU  420  are connected via a data bus  408 . 
     The flight control CPU  402  controls a flight of the flight vehicle  400 . The communication device  404  executes communication via the antenna  405 . The communication device  404  communicates, for example, with the ground station  300  via the antenna  405 . 
     The image processing CPU  420  processes the image captured by the camera  410 . For example, the image processing CPU  420  causes the communication device  404  to transmit the image captured by the camera  410  toward the ground station  300 . The image processing CPU  420  may perform tilt correction on the image captured by the camera  410 . 
     The flight vehicle  500  includes a flight control CPU  502 , a communication device  504 , an antenna  505 , the camera  510 , and an image processing CPU  520 . The flight control CPU  502 , the communication device  504 , and the image processing CPU  520  are connected via a data bus  508 . 
     The flight control CPU  502  controls a flight of the flight vehicle  500 . The communication device  504  executes communication via the antenna  505 . The communication device  504  communicates, for example, with the ground station  600  via the antenna  505 . 
     The image processing CPU  520  processes the image captured by the camera  510 . For example, the image processing CPU  520  causes the communication device  504  to transmit the image captured by the camera  510  toward the ground station  600 . The image processing CPU  520  may perform tilt correction on the image captured by the camera  510 . 
     The ground station  300  includes an internet connection unit  302 , a communication device  304 , an antenna  305 , a DB  306 , and an image processing CPU  308 . The internet connection unit  302 , the communication device  304 , the DB  306 , and the image processing CPU  308  are connected via a data bus  309 . 
     The internet connection unit  302  is connected to the network  80  to communicate with the communication equipment on the Internet. The communication device  304  executes communication via the antenna  305 . The communication device  304  communicates, for example, with the flight vehicle  400  via the antenna  305 . 
     The DB  306  stores various types of data. The DB  306  stores, for example, map data including the information on the topographies and the buildings. The DB  306  stores, for example, map data received by the internet connection unit  302  from any communication equipment via the network  80 . The DB  306  may store the image which is captured by the camera  410  and which is received by the communication device  304  from the flight vehicle  400 . The DB  306  may store the image which is captured by the camera  510  and which is received by the internet connection unit  302  from the flight vehicle  500  via the network  80  and the ground station  600 . 
     The image processing CPU  308  processes the image captured by the camera  410  and the image captured by the camera  510 . The image processing CPU  308  detects the flying object at a lower altitude than those of the flight vehicle  400  and the flight vehicle  500 , based on the difference between the first region in the image captured by the camera  410  and the first region in the image captured by the camera  510 . 
       FIG. 8  schematically shows an example of a processing flow executed by the ground station  300 . The ground station  300  regularly executes, for example, the processing shown in  FIG. 8 . 
     In S 202 , the images captured by the flight vehicle  400  and the flight vehicle  500  are received. In S 204 , the image processing CPU  308  corrects the images received in S 202 . For example, the image processing CPU  308  performs tilt correction on the image. 
     In S 206 , the image processing CPU  308  collates the images corrected in S 204 . The image processing CPU  308  may refer to the map data stored in the DB  306  and exclude the known buildings, mountains, and the like from the collated images. 
     In S 208 , the image processing CPU  308  determines whether there is an unrecognizable flying object in the image. If yes, the processing proceeds to S 210 , and otherwise, the processing proceeds to S 212 . In S 210 , the image processing CPU  308  causes the communication device  304  to issue an alert to the preset communication equipment via the network  80  and to transmit an image of the unrecognizable flying object. 
     In S 212 , a determination is made over whether to complete the processing. If no, the processing returns to S 202 , and if yes, the processing is completed. 
       FIG. 9  schematically shows an example of a functional configuration of the image processing CPU  308 . The image processing CPU  308  has an image acquisition unit  332 , a flying object detection unit  334 , a map data reference unit  336 , an object identification unit  338 , a flight information derivation unit  340 , an altitude derivation unit  342 , a transmission control unit  344 , an estimated altitude acquisition unit  352 , and an adjustment control unit  354 . 
     The image acquisition unit  332  acquires the image captured by the camera  410 . The image acquisition unit  332  acquires the image captured by the camera  510 . 
     The flying object detection unit  334  detects the flying object based on the image acquired by the image acquisition unit  332 . The map data reference unit  336  refers to the map data stored in the DB  306 . The flying object detection unit  334  may detect the flying object based on the image acquired by the image acquisition unit  332  and the map data referenced by the map data reference unit  336 . 
     The object identification unit  338  identifies the flying object detected by the flying object detection unit  334 , based on the images which are captured by the camera  410  and the camera  510  and which are acquired by the image acquisition unit  332 . The object identification unit  338  determines, for example, whether the flying object is an unmanned aerial vehicle. The object identification unit  338  may identify whether the flying object is a bird. 
     The flight information derivation unit  340  derives at least any of the flight speed, the flight direction, and the flight route prediction of the flying object detected by the flying object detection unit  334 , based on the images which are captured by the camera  210  and the camera  220  and which are acquired by the image acquisition unit  332 . 
     The altitude derivation unit  342  derives the altitude of the flying object detected by the flying object detection unit  334 . For example, the altitude derivation unit  342  derives the altitude of the flying object based on a distance from the camera  410  to the flying object, and the altitude of the camera  410 . For example, the altitude derivation unit  342  sets an altitude measured by an altimeter which the flight vehicle  400  includes to be the altitude of the camera  410 . Further, for example, the altitude derivation unit  342  applies a well-known method such as a method using triangulation to the image captured by the camera  410  and the image captured by the camera  510  so as to derive the distance between the camera  410  and the flying object. Then, the altitude derivation unit  342  derives the altitude of the flying object by subtracting the distance between the camera  410  and the flying object from the altitude of the camera  410 . 
     The transmission control unit  344  causes the communication device  304  to transmit various pieces of information. For example, when the flying object detection unit  334  detects the flying object, the transmission control unit  344  causes the communication device  304  to transmit warning information toward the preset communication equipment. The transmission control unit  344  may cause the communication device  304  to transmit the identification result obtained by the object identification unit  338 . The transmission control unit  344  may cause the communication device  304  to transmit the information derived by the flight information derivation unit  340 . The transmission control unit  344  may cause the communication device  304  to transmit the altitude derived by the altitude derivation unit  342 . 
     Note that  FIG. 6  to  FIG. 9  have described the examples in which the ground station  300  functions as the image processing device  100 ; however, the present invention is not limited thereto. For example, the ground station  600  may function as the image processing device  100 . In this case, the ground station  600  receives the image captured by the camera  410  from the flight vehicle  400  via the ground station  300  and the network  80 , receives the image captured by the camera  510  from the flight vehicle  500 , and detects the flying object based on the received images. The communication equipment connected to the network  80  may also, for example, function as the image processing device  100 . In this case, the communication equipment receives the image captured by the camera  410  via the ground station  300  and the network  80 , receives the image captured by the camera  510  via the ground station  600  and the network  80 , and detects the flying object based on the received images. 
     The estimated altitude acquisition unit  352  acquires an estimated altitude of the flying object. For example, the estimated altitude acquisition unit  352  acquires the estimated altitude of the flying object from the communication equipment on the network  80 . For example, the estimated altitude is an average altitude of the flying object which is a detection target. 
     The adjustment control unit  354  adjusts a distance between the flight vehicle  400  and the flight vehicle  500  depending on the estimated altitude acquired by the estimated altitude acquisition unit  352 . For example, in order to adjust the distance between the flight vehicle  400  and the flight vehicle  500 , the adjustment control unit  354  causes the communication device  304  to transmit flight control data of the flight vehicle  400  toward the flight vehicle  400 . and causes the internet connection unit  302  to transmit the flight control data of the flight vehicle  500  toward the flight vehicle  500 . 
     The estimated altitude acquisition unit  352  may further acquire an estimated location of the flying object, and in this case, the adjustment control unit  354  may cause the distance between the flight vehicle  400  and the flight vehicle  500 , the altitude of the flight vehicle  400 , and the altitude of the flight vehicle  500  to be adjusted depending on the estimated altitude and the estimated location. 
       FIG. 10  is an illustration describing tilt correction for an image  430  and an image  530  obtained by the flight vehicle  400  and the flight vehicle  500 . The tilt correction for the image  430  may be executed by the flight vehicle  400 . When the ground station  300  functions as the image processing device, the tilt correction for the image  430  may also be executed by the ground station  300 . When the communication equipment on the network  80  functions as the image processing device, the tilt correction for the image  430  may also be executed by the communication equipment. 
     The tilt correction for the image  530  may be executed by the flight vehicle  500 . When the ground station  600  functions as the image processing device, the tilt correction for the image  530  may also be executed by the ground station  600 . When the communication equipment on the network  80  functions as the image processing device, the tilt correction for the image  530  may also be executed by the communication equipment. 
     A corrected image  432  obtained by the tilt correction for the image  430  and a corrected image  532  obtained by the tilt correction for the image  530  may be collated by the image processing device  100 . 
       FIG. 11  is an illustration describing a detection accuracy of a flying object  800 . Here, a case where the total number of pixels of images captured by the camera  410  and the camera  510  is 100,000,000 pixels, the number of vertical pixels is 10,000 pixels, the number of horizontal pixels is 10,000 pixels, image-capturing ranges of the camera  410  and the camera  510  are 1-km square, a distance  710  between the camera  410  and the camera  510  is 2 km, the altitude of the camera  410  and the camera  510  is 20 km, and a height of an unmanned aerial vehicle, which is the flying object  800  as a target, above ground level is 10 m will be described as an example. 
     In this case, a size of one pixel is 0.1 m. Since a top and a bottom of an unmanned aerial vehicle have similar shapes, altitude  730 /altitude  720 =distance  740 /distance  710 , the distance  740  is 1 m, and the number of deviation pixels is 10 pixels. 
     As shown in  FIG. 11 , for example, when the flight vehicle  400  and the flight vehicle  500  flying at an altitude of 20 km are captured from a location 2 km away, it is theoretically possible to detect an unmanned aerial vehicle at a height of 10 m above ground level. 
     In the above described embodiment, the example in which the flight vehicle  200  communicates with the network  80  via the ground station  300  has been mainly described; however, the present invention is not limited thereto. The flight vehicle  200  may execute satellite communication. 
       FIG. 12  schematically shows an example of a communication environment of the flight vehicle  200 . Here, differences from  FIG. 2  will be mainly described. 
     The flight vehicle  200  includes a satellite communication unit (not shown) and executes satellite communication with a communication satellite  900 . The flight vehicle  200  may communicate with the network  80  via the communication satellite  900 . For example, the communication satellite  900  relays communication between the flight vehicle  200  and the network  80  via a ground station  910 . 
     When the flight vehicle  200  detects the flying object, the flight vehicle  200  may transmit a warning to any communication equipment via the communication satellite  900 , the ground station  910 , and the network  80 . The flight vehicle  200  may further transmit, to the communication equipment, the image of the flying object, and the flight speed, the flight direction, the flight route prediction, and the like of the flying object. 
       FIG. 13  schematically shows an example of communication environments of the flight vehicle  400  and the flight vehicle  500 . Here, differences from  FIG. 6  will be mainly described. 
     The flight vehicle  400  includes a satellite communication unit (not shown) and executes satellite communication with the communication satellite  900 . The flight vehicle  400  may communicate with the network  80  via the communication satellite  900 . For example, the communication satellite  900  relays communication between the flight vehicle  400  and the network  80  via the ground station  910 . 
     The flight vehicle  500  includes a satellite communication unit (not shown) and executes satellite communication with the communication satellite  900 . The flight vehicle  500  may communicate with network  80  via the communication satellite  900 . For example, the communication satellite  900  relays communication between the flight vehicle  500  and the network  80  via the ground station  910 . 
     The ground station  910  may include a satellite communication unit (not shown), and may receive the image captured by the camera  410  via the flight vehicle  400  and the communication satellite  900 . The ground station  910  may also receive the image captured by the camera  510  via the flight vehicle  500  and the communication satellite  900 . The ground station  910  may detect the flying object from the image captured by the camera  410  and the image captured by the camera  510 . When the ground station  910  detects the flying object, the ground station  910  may transmit a warning to any communication equipment via the network  80 . The ground station  910  may further transmit, to the communication equipment, the image of the flying object, and the flight speed, the flight direction, the flight route prediction, and the like of the flying object. 
     The flight vehicle  400  may communicate with the flight vehicle  500  via the communication satellite  900 . For example, the flight vehicle  400  may also receive the image captured by the camera  510  via the flight vehicle  500  and the communication satellite  900 . The flight vehicle  400  may detect the flying object from the image captured by the camera  410  and the image captured by the camera  510 . When the flight vehicle  400  detects the flying object, the flight vehicle  400  may transmit a warning to any communication equipment via the communication satellite  900 , the ground station  910 , and the network  80 . The flight vehicle  400  may further transmit, to the communication equipment, the image of the flying object, and the flight speed, the flight direction, the flight route prediction, and the like of the flying object. 
     In the above description, each unit of the image processing device  100  may be realized by hardware or may be realized by software. Each unit of the image processing device  100  may also be realized by a combination of hardware and software. Further, a computer may function as the image processing device  100  by executing a program. The program may be installed on a computer that constitutes at least a part of the image processing device  100  from a computer-readable medium or a storage device connected to a network. 
     A program, which is installed on a computer and causes the computer to function as the image processing device  100  according to the present embodiment, works on a CPU or the like to cause the computer to function as each unit of the image processing device  100 . Information processing described in these programs functions as specific means by which software and hardware resources of the image processing device  100  cooperate by being read by the computer. 
     While the embodiments of the present invention have been described, the technical scope of the invention is not limited to the above described embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above described embodiments. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the invention. 
     The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by “prior to,” “before,” or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as “first” or “next” in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order. 
     EXPLANATION OF REFERENCES 
       10 : camera,  12 : image-capturing range,  14 : image,  16 : flying object,  20 : camera,  22 : image-capturing range,  24 : image,  26 : flying object,  30 : difference image,  40 : flying object,  80 : network,  100 : image processing device,  200 : flight vehicle,  202 : flight control CPU,  204 : communication device,  205 : antenna,  206 : DB,  208 : data bus,  210 : camera,  220 : camera,  230 : image processing CPU,  232 : image acquisition unit,  234 : flying object detection unit,  236 : map data reference unit,  238 : object identification unit,  240 : flight information derivation unit,  242 : altitude derivation unit,  244 : transmission control unit,  300 : ground stations,  302 : internet connection unit,  304 : communication device,  305 : antenna,  306 : DB,  308 : image processing CPU,  309 : data bus,  332 : image acquisition unit,  334 : flying object detection unit,  336 : map data reference unit,  338 : object identification unit,  340 : flight information derivation unit,  342 : altitude derivation unit,  344 : transmission control unit,  352 : estimated altitude acquisition unit,  354 : adjustment control unit,  400 : flight vehicle,  402 : flight control CPU,  404 : communication device,  405 : antenna,  408 : data bus,  410 : camera,  420 : image processing CPU,  430 : image,  432 : corrected image,  500 : flight vehicle,  502 : flight control CPU,  504 : communication device,  505 : antenna,  508 : data bus,  510 : camera,  520 : image processing CPU,  530 : image,  532 : corrected image,  600 : ground station,  710 : distance,  720 : altitude,  730 : altitude,  740 : distance,  800 : flying object,  900 : communication satellite,  910 : ground station