Patent Publication Number: US-10778899-B2

Title: Camera control apparatus

Description:
BACKGROUND 
     Technical Field 
     The present disclosure relates to a camera control apparatus in transport facilities, such as aircraft and trains, for controlling cameras that capture external video images. 
     Description of Related Art 
     Japanese Patent Unexamined Publication No. H11-8843 discloses a structure for adjusting zooming levels and camera-to-camera angles of a plurality of cameras according to an angle of view specified by an operator&#39;s manipulation or an input from an external device. This configuration makes it possible to perform wide-range and detailed visual observation without causing duplication or lack of displayed images. 
     SUMMARY 
     The present disclosure provides a camera control apparatus that makes it possible to perform image capturing with an appropriate angle of view. 
     A camera control apparatus of the present disclosure includes an interface and a controller. The interface receives first image data generated by a first camera performing image capturing, second image data generated by a second camera performing image capturing, and altitude information relating to altitude, the altitude information being output by an altitude sensor, and transmits a drive signal to a first actuator capable of changing an image capturing direction of the first camera and to a second actuator capable of changing an image capturing direction of the second camera. The controller outputs the drive signal driving at least one of the first actuator and the second actuator to the interface so that an image capturing region of composite image data in which the first image data and the second image data are combined is narrower when the altitude indicated by the altitude information is lower. 
     A camera control apparatus according to another aspect of the present disclosure includes an interface, a geographic information database, and a controller. The interface receives first image data generated by a first camera performing image capturing, second image data generated by a second camera performing image capturing, positional information relating to a current position, the positional information being output by a position sensor, and azimuth information being output by a compass, and transmits a drive signal to a first actuator capable of changing an image capturing direction of the first camera and to a second actuator capable of changing an image capturing direction of the second camera. The geographic information database retains landmark information relating to positions of landmarks. The controller identifies one of the landmarks which is positioned within a predetermined range relative to the current position, based on the positional information, the azimuth information, and the landmark information acquired from the geographic information database. Then, the controller outputs the drive signal driving at least one of the first actuator and the second actuator so that a position of the identified landmark is contained in at least one of an image capturing region of the first camera and an image capturing region of the second camera. 
     The camera control apparatus of the present disclosure is effective to perform image capturing with an appropriate angle of view. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a view illustrating the configuration of an in-flight system according to a first exemplary embodiment. 
         FIG. 2  is a view illustrating the configuration of a server apparatus in the first exemplary embodiment. 
         FIG. 3  is a view illustrating data contents of a geographic information database in the first exemplary embodiment. 
         FIG. 4  is a view illustrating a specific example of the orientations of a first camera and a second camera in cases where the altitude of an aircraft is low, according to the first exemplary embodiment. 
         FIG. 5  is a view illustrating a specific example of the orientations of the first camera and the second camera in cases where the altitude of the aircraft is high, according to the first exemplary embodiment. 
         FIG. 6  is a flowchart illustrating a process for controlling the orientations of cameras according to a second exemplary embodiment. 
         FIG. 7  is a view illustrating the relationship between a current position, a landmark position, and a horizon position, according to the second exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinbelow, exemplary embodiments will be described in detail with reference to the drawings. However, unnecessarily detailed description may be omitted. For example, detailed description of well-known matters and repetitive description of substantially the same structures may be omitted. This is to prevent the following description from becoming redundant and to facilitate understanding for those skilled in the art. 
     It should be noted that the appended drawings and the following description are provided for those skilled in the art to sufficiently understand the present disclosure, and they are not intended to limit the subject matter set forth in the claims. 
     First Exemplary Embodiment 
     Hereinbelow, a first exemplary embodiment will be described with reference to  FIGS. 1 to 5 . 
     1-1 Configuration 
       FIG. 1  is a view illustrating the configuration of in-flight system  10  according to the first exemplary embodiment. In-flight system  10  of the present exemplary embodiment is provided inside an aircraft. In-flight system  10  captures images of a landscape external to the aircraft when the aircraft is flying an airway, to acquire image data. In-flight system  10  changes orientations of cameras based on the altitude information of the aircraft. 
     In-flight system  10  is furnished with server apparatus  100 , monitor  200 , GPS module  300 , first camera  400   a , second camera  400   b , and compass  500 . Server apparatus  100  is connected to monitor  200 , and it transmits image data to monitor  200 . Monitor  200  is fitted in a passenger cabin of the aircraft. Monitor  200  is capable of displaying video images based on the image data received from server apparatus  100 . GPS module  300  acquires latitude-and-longitude information that indicates the current position of the aircraft and altitude information that indicates the current altitude of the aircraft, and it transmits the latitude-and-longitude information and the altitude information to server apparatus  100 . 
     First camera  400   a  generates image data by performing an image capturing operation and outputs the image data to server apparatus  100 . First camera  400   a  is furnished with first actuator  401   a . First actuator  401   a  changes an image capturing direction of first camera  400   a  based on the data received from server apparatus  100 . Server apparatus  100  controls first actuator  401   a  to thereby enable first camera  400   a  to pan (rotate in yawing directions) and tilt (rotate in pitching directions). 
     Second camera  400   b  generates image data by performing an image capturing operation and outputs the image data to server apparatus  100 . Second camera  400   b  is furnished with second actuator  401   b . Second actuator  401   b  changes an image capturing direction of second camera  400   b  based on the data received from server apparatus  100 . Server apparatus  100  controls second actuator  401   b  to thereby enable second camera  400   b  to pan (rotate in yawing directions) and tilt (rotate in pitching directions). 
     Compass  500  acquires azimuth information indicating the current azimuth of the aircraft and transmits the azimuth information to server apparatus  100 . The azimuth information is information that indicates an azimuth on which the aircraft is heading. 
       FIG. 2  is a view illustrating the configuration of server apparatus  100 . Server apparatus  100  is furnished with interface (I/F)  101 , CPU  102 , memory  103 , geographic information database (DB)  104 , and operation unit  105 . The present exemplary embodiment describes an example in which geographic information database  104  is connected to the interior of server apparatus  100 . However, it is only necessary that the geographic information database  104  should be configured so that it can be read and written by CPU  102 . For example, it is possible that the geographic information database may be disposed external to server apparatus  100  and connected to interface  101  of server apparatus  100 . It is also possible that the geographic information database may be disposed in a data center that is external to the aircraft (i.e., on the ground) and may be capable of communicating with server apparatus  100  via wireless communication. 
     CPU  102  executes programs stored in memory  103  to perform various processing such as arithmetic operations and information processing. CPU  102  is capable of reading and writing data from and into geographic information database  104 . CPU  102  also carries out communications with monitor  200 , GPS module  300 , first camera  400   a , second camera  400   b , and compass  500 , via interface  101 . 
     In particular, CPU  102  drives first actuator  401   a  of first camera  400   a  and second actuator  401   b  of second camera  400   b  by transmitting a drive signal to first actuator  401   a  and second actuator  401   b , to thereby control the image capturing directions of first camera  400   a  and second camera  400   b . CPU  102  manages the image capturing direction of first camera  400   a  as first directional information. CPU  102  also manages the image capturing direction of second camera  400   b  as second directional information. The first directional information and the second directional information are information indicating relative directions to the aircraft in which first camera  400   a  and second camera  400   b  are installed. 
     CPU  102  acquires information from GPS module  300  and geographic information database  104 , combines image data acquired from first camera  400   a  and second camera  400   b  by carrying out image processing on the image data, and transmits the combined image data to monitor  200 . CPU  102  receives signals from operation unit  105  and performs various operations in response to the received signals. In particular, CPU  102  controls the start and end of image capturing operations of first camera  400   a  and second camera  400   b  based on the signals from operation unit  105 . 
     Memory  103  stores, for example, programs to be executed by CPU  102 , image data generated by first camera  400   a  and second camera  400   b  that perform image capturing, computation results of CPU  102 , and information acquired from geographic information database  104 . Memory  103  may be composed of a flash memory or a RAM. 
     Interface  101  receives first image data generated by first camera  400   a  that performs image capturing, second image data generated by second camera  400   b  that performs image capturing, latitude-and-longitude information being output by GPS module  300 , and azimuth information being output by compass  500 , and transmits the received data and information to CPU  102 . In addition, interface  101  transmits a drive signal that is output by CPU  102  to first actuator  401   a  and second actuator  401   b.    
     Geographic information database  104  is a database for retaining information relating to landmarks on a map (landmark information). The landmark information is information that indicates specific points of location on a map. It should be noted that a landmark is also referred to as a point of interest (POI). The geographic information database  104  is composed of, for example, a hard disk drive. 
       FIG. 3  is a view illustrating a specific example of data contents of geographic information database  104 . Geographic information database  104  retains a plurality of sets of landmark information, each set containing a landmark name and its latitude and longitude (geographic information) indicating the global position of the landmark. 
     Operation unit  105  is a user interface for accepting input from a user (such as a cabin crew of the aircraft). Operation unit  105  is fitted in the passenger cabin of the aircraft. Operation unit  105  is composed of at least one of a keyboard, a mouse, a touchscreen, and a remote control. When operated by a user, operation unit  105  transmits a signal corresponding to the operation to CPU  102 . 
     In-flight system  10  is an example of image capturing system. Server apparatus  100  is an example of camera control apparatus. GPS module  300  is an example of position sensor (latitude-and-longitude information acquiring unit) and altitude sensor (altitude information acquiring unit). CPU  102  is an example of controller. Interface  101  is an example of a communication circuit. First camera  400   a  and second camera  400   b  are an example of image capturing device. First actuator  401   a  and second actuator  401   b  are an example of camera orientation changing unit. Compass  500  is an example of azimuth sensor (azimuth information acquiring unit). Geographic information database  104  is an example of landmark database. 
     1-2 Operations 
     The operations of in-flight system  10  that is configured in the above-described manner will be described in the following. Server apparatus  100  acquires altitude information from GPS module  300 . Server apparatus  100  drives first actuator  401   a  and second actuator  401   b  based on the altitude information to change the orientations (i.e., the image capturing directions) of first camera  400   a  and second camera  400   b.    
     When a user gives an instruction to start image capturing by means of operating operation unit  105  of server apparatus  100 , CPU  102  instructs first camera  400   a  and second camera  400   b  to start image capturing. First camera  400   a  and second camera  400   b  generate image data by performing an image capturing operation, and outputs the image data to server apparatus  100 . 
     CPU  102  combines the image data acquired from first camera  400   a  and second camera  400   b  by carrying out image processing on the image data, and transmits the combined image data to monitor  200 . Monitor  200  displays the acquired image data. First camera  400   a  and second camera  400   b  are disposed in such orientations that their respective angles of view (image capturing regions) partially overlap each other. By combining image data obtained by first camera  400   a  and second camera  400   b  that perform image capturing, CPU  102  can generate composite image data, which are image data with a wider angle of view. 
     In addition, CPU  102  changes the orientations of first camera  400   a  and second camera  400   b  based on the altitude information. CPU  102  repeats the above-described process every predetermined time until it receives an instruction to stop image capturing. 
     The following describes controlling of the orientations of first camera  400   a  and second camera  400   b  based on altitude information.  FIG. 4  is a view illustrating a specific example of the orientations of first camera  400   a  and second camera  400   b  in cases where the altitude of the aircraft is low.  FIG. 5  is a view illustrating a specific example of the orientations of first camera  400   a  and second camera  400   b  in cases where the altitude of the aircraft is high. CPU  102  drives first actuator  401   a  and second actuator  401   b  by transmitting a drive signal to first actuator  401   a  and second actuator  401   b  to control the image capturing directions of first camera  400   a  and second camera  400   b  so that composite image capturing region Rc is narrower when the altitude indicated by the altitude information is lower. Controlling of the image capturing directions of first camera  400   a  and second camera  400   b  may be carried out by changing the image capturing directions of both of the cameras, or by changing the image capturing direction of either one of the cameras. 
     Herein, composite image capturing region Rc is a wider image capturing region obtained by combining image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b . In other words, composite image capturing region Rc is a region in which image capturing is possible with at least one of the two cameras. It may also be said that the image capturing region of the composite image data, which are obtained by combining the image data obtained through the image capturing performed by first camera  400   a  and second camera  400   b , is composite image capturing region Rc. An axis corresponding to the optical axis of composite image capturing region Rc is defined as a composite optical axis. The composite optical axis is the sum of unit vectors indicating the respective optical axes of the two cameras. It should be understood that the orientation of the composite optical axis can be obtained by calculation from the first directional information and the second directional information, which indicate the respective orientations of the two cameras, and the azimuth information acquired from compass  500 . 
     As illustrated in  FIG. 4 , CPU  102  drives first actuator  401   a  and second actuator  401   b  to change the orientations of first camera  400   a  and second camera  400   b  so that composite image capturing region Rc of first camera  400   a  and second camera  400   b  will be smaller when the altitude indicated by the altitude information is lower than a predetermined threshold value. That the composite image capturing region Rc will be smaller means, in other words, that overlapping image capturing region Ro in which image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  overlap is larger. 
     As illustrated in  FIG. 5 , CPU  102  drives first actuator  401   a  and second actuator  401   b  to change the orientations of first camera  400   a  and second camera  400   b  so that composite image capturing region Rc of first camera  400   a  and second camera  400   b  will be larger when the altitude indicated by the altitude information is higher than a preset threshold value. That the composite image capturing region Rc will be larger means, in other words, that overlapping image capturing region Ro in which image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  overlap is smaller. 
     1-3 Advantageous Effects, Etc. 
     As described above, server apparatus  100  of the present exemplary embodiment includes interface  101  and CPU  102 . Interface  101  receives first image data generated by first camera  400   a  that performs image capturing, second image data generated by second camera  400   b  that performs image capturing, and altitude information relating to altitude, which is output by GPS module  300 , and interface  101  transmits a drive signal to first actuator  401   a  capable of changing the image capturing direction of first camera  400   a  and to second actuator  401   b  capable of changing the image capturing direction of the second camera  400   b . CPU  102  outputs the drive signal for driving first actuator  401   a  and second actuator  401   b  to control the image capturing directions of first camera  400   a  and second camera  400   b  so that when the altitude indicated by the altitude information is lower, composite image capturing region Rc, which is the range in which image capturing is possible with at least one of first camera  400   a  and second camera  400   b , will be narrower. 
     With this server apparatus  100 , when the altitude is lower, composite image capturing region Rc obtained by the two cameras is accordingly narrower. When composite image capturing region Rc is narrower, the blind spot between the two cameras becomes smaller, so that the image capturing region contains a closer range. When the altitude is lower, the possibility that an object such as a landmark is in a closer range is higher. Even in such cases, server apparatus  100  of the present exemplary embodiment makes it possible to control the cameras orientations so as to increase the possibility that such objects are contained within the image capturing region. That is, server apparatus  100  of the present exemplary embodiment is effective to perform image capturing with an appropriate angle of view (i.e., with an appropriate image capturing region). 
     Second Exemplary Embodiment 
     Hereinbelow, a second exemplary embodiment will be described with reference to  FIGS. 6 to 7 . 
     2-1 Configuration 
     In-flight system  10  of the second exemplary embodiment differs from in-flight system  10  of the first exemplary embodiment in that the orientations of first camera  400   a  and second camera  400   b  are controlled based on landmark information. The structure of in-flight system  10  of the second exemplary embodiment and the basic controlling of the image capturing operations by first camera  400   a  and second camera  400   b  are substantially the same as those of in-flight system  10  of the first exemplary embodiment, and therefore, repetitive description thereof will be omitted. 
     2-2 Operations 
     Hereinbelow, controlling of the orientations of first camera  400   a  and second camera  400   b  based on the landmark information will be described.  FIG. 6  is a flowchart illustrating a process for controlling the orientations of the cameras according to the second exemplary embodiment. CPU  102  repeats the process shown in  FIG. 6  every certain time during the image capturing operation performed by first camera  400   a  and second camera  400   b.    
     CPU  102  acquires latitude-and-longitude information and altitude information (step S 401 ). Next, CPU  102  acquires landmark information in a region around the current position from geographic information database  104  (step S 402 ). Specifically, CPU  102  first calculates distance d 2  from the current position to the horizon based on the altitude information. 
       FIG. 7  is a view illustrating the relationship between current position L, landmark position D 1 , and horizon position D 2 . Current position L is the current position of the aircraft, in other words, the position indicated by the altitude information and the latitude-and-longitude information, which are output by GPS module  300 . Ground surface position L 0  is the position of the ground surface that is located directly beneath the aircraft, in other words, the position indicated by the latitude-and-longitude information, which is output by GPS module  300 . Altitude H is the altitude of the aircraft, in other words, the altitude indicated by the altitude information, which is output by GPS module  300 . Radius R is the radius of the Earth when the Earth is assumed to be a perfect sphere. Landmark position D 1  is the global position of a specific landmark indicated by a piece of landmark information retained in geographic information database  104 . Horizon position D 2  is the position of the horizon as seen from the aircraft located at current position L. 
     Distance d 1  from ground surface position L 0  to landmark position D 1  can be obtained by calculation using the longitudes and latitudes thereof. The central angle of an arc defined by ground surface position L 0  and landmark position D 1  is defined as angle θ. Distance d 2  from ground surface position L 0  to horizon position D 2  can be obtained by the following equation (1). As will be appreciated from equation (1), distance d 2  can be calculated from altitude H, in other words, the altitude information.
 
 d 2= Rθ=R  cos −1 ( R /( h+R ))  (1)
 
     Next, CPU  102  acquires landmark information contained within a circular region with its center being ground surface position L 0  indicated by the latitude-and-longitude information and its radius being the calculated distance d 2 , and within the maximum composite image capturing region of first camera  400   a  and second camera  400   b , from geographic information database  104  (step S 402 ). Here, the maximum composite image capturing region refers to the region in which composite image capturing region Rc that is determined by the orientations of the two cameras is the greatest. Specifically, the maximum composite image capturing region is composite image capturing region Rc that causes overlapping image capturing region Ro of first camera  400   a  and second camera  400   b  to be minimum. CPU  102  identifies the maximum composite image capturing region from the first directional information and the second directional information that cause overlapping image capturing region Ro of the two cameras to be minimum, the azimuth information acquired from compass  500 , and the respective angles of view of the cameras. CPU  102  acquires landmark information that is present within an overlapping region between the circular region with its radius being distance d 2  and the maximum composite image capturing region from geographic information database  104 . 
     CPU  102  determines whether or not the acquired landmark information exists within at least one of image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  (step S 403 ). In other words, CPU  102  determines whether or not the acquired landmark is present within composite image capturing region Rc. 
     If the landmark indicated by the acquired landmark information exists within at least one of image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  (Yes at step S 403 ), the current camera orientations are retained. 
     On the other hand, if the landmark indicated by the acquired landmark information exists neither in image capturing region Ra of first camera  400   a  nor in image capturing region Rb of second camera  400   b  (No at step S 403 ), CPU  102  drives first actuator  401   a  and second actuator  401   b  with a drive signal to change the camera orientations (step S 404 ). In this case, CPU  102  changes the camera orientations so that the landmark indicated by the acquired landmark information exists in at least one of image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b , based on the position of the landmark identified by the acquired landmark information. When changing the image capturing directions of first camera  400   a  and second camera  400   b , the image capturing directions of both cameras may be changed, or the image capturing direction of either one of the cameras may be changed. 
     2-3 Advantageous Effects, Etc. 
     As described above, server apparatus  100  of the present exemplary embodiment includes interface  101 , geographic information database  104 , and CPU  102 . Interface  101  receives image data generated by first camera  400   a  that performs image capturing, image data generated by second camera  400   b  that performs image capturing, latitude-and-longitude information relating to the current position that is output by GPS module  300 , and azimuth information that is output by compass  500 . Interface  101  also transmits a drive signal to first actuator  401   a  capable of changing the image capturing direction of first camera  400   a  and to second actuator  401   b  capable of changing the image capturing direction of the second camera  400   b . Geographic information database  104  retains landmark information relating to positions of landmarks. CPU  102  identifies a landmark positioned within a predetermined range relative to the current position, based on the latitude-and-longitude information, the azimuth information, and the landmark information acquired from geographic information database  104 . Then, CPU  102  outputs the drive signal for driving first actuator  401   a  and second actuator  401   b  to control the image capturing directions of first camera  400   a  and second camera  400   b  so that the position of the identified landmark is contained in at least one of the image capturing region of first camera  400   a  and the image capturing region of second camera  400   b.    
     This server apparatus  100  makes it possible to control the camera orientations so that a landmark existing within the range in which image capturing is possible can be caught within the image capturing region of either one of the cameras. Thus, server apparatus  100  of the present exemplary embodiment is effective to perform image capturing with an appropriate angle of view (i.e., with an appropriate image capturing region). 
     Other Exemplary Embodiments 
     Hereinabove, the first and second exemplary embodiments have been described as examples of the technology disclosed in the present application. However, the technology of the present disclosure is not limited thereto and may be applied to other embodiments in which modifications, substitutions, additions, and subtractions are made. It is also possible to construct other embodiments by combining component parts described in the first and second exemplary embodiments. Now, other exemplary embodiments will be illustrated in the following. 
     The first and second exemplary embodiments have described a configuration provided with two cameras. It is also possible to apply the configuration of the present disclosure to cases where three or more cameras are provided, by performing similar processing for two of the cameras. 
     The first and second exemplary embodiments have described a configuration in which the altitude information is acquired from GPS module  300 . It is also possible to acquire the altitude information using other types of altitude sensors, such as an atmospheric pressure sensor. 
     The first and second exemplary embodiments have described a configuration in which the orientations of the cameras are changed by controlling the actuators to thereby changing the image capturing regions. It is also possible to change image capturing regions by using cameras that are capable of changing their image capturing regions, such as cameras provided with zoom lenses, and by controlling the image capturing regions of the cameras with CPU  102 . Specifically, CPU  102  changes image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  so that overlapping image capturing region Ro, in which image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  overlap, will be larger (i.e., the angle of view will be wider) when the altitude indicated by the altitude information is lower than a preset threshold value. CPU  102  changes image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  so that overlapping image capturing region Ro, in which image capturing region Ra of first camera  400   a  and image capturing region Rb of second camera  400   b  overlap, will be smaller (i.e., the angle of view will be narrower) when the altitude indicated by the altitude information is higher than the preset threshold value. 
     In place of zooming with the use of zoom lenses, zooming may be carried out by performing image capturing with the use of a camera equipped with a wide-angle lens and cropping a portion of image data from image data with a wide range of image capturing region. By changing the image capturing region to be cropped according to the altitude, it is also possible to control the overlapping cropped image capturing region of first camera  400   a  and second camera  400   b.    
     The first and second exemplary embodiments have described a configuration in which the image capturing regions are changed by controlling the actuators to pan or tilt the cameras. It is also possible that the image capturing regions may be changed by controlling the actuators so as to rotate the cameras in rolling directions, that is, to rotate the cameras around the optical axes of the cameras. The image capturing region (angle of view) of first camera  400   a  and second camera  400   b  is in a rectangular shape with an aspect ratio of, for example, 16:9. This means that the image capturing regions can be changed by rotating the cameras in rolling directions between a horizontal position and a vertical position. Here, the horizontal position refers to a position of the cameras along a rolling direction such that the longitudinal sides of the image capturing regions of the cameras are parallel to the axis along which the two cameras are lined up. The vertical position refers to a position of the cameras along a rolling direction such that the longitudinal sides of the image capturing regions of the cameras are perpendicular to the axis along which the two cameras are lined up. 
     For example, CPU  102  controls first actuator  401   a  and second actuator  401   b  to cause first camera  400   a  and second camera  400   b  to be in the horizontal position when the altitude indicated by the altitude information is lower than a preset threshold value. CPU  102  controls first actuator  401   a  and second actuator  401   b  to cause first camera  400   a  and second camera  400   b  to be in the vertical position when the altitude indicated by the altitude information is higher than the preset threshold value. In this situation, however, the image capturing regions of first camera  400   a  and second camera  400   b  should partially overlap. By doing so, the image capturing regions about the axis in which the cameras are lined up can be changed, so that the same advantageous effects as those obtained by the first exemplary embodiment can be obtained. 
     In place of controlling the actuators, it is possible to perform image capturing using cameras equipped with a wide-angle lens, and to crop a portion of image data from the image data with a wide range of image capturing region to achieve panning and tilting, or it is also possible to crop a portion of image data along a rolling direction. 
     The first exemplary embodiment has described a configuration in which only one threshold value is set for determining whether the altitude is high or low and the camera orientations are changed in two steps. It is also possible that a plurality of threshold values may be set and the camera orientations may be changed in three or more steps. 
     The first exemplary embodiment has described a configuration in which a threshold value of altitude is set in order to determine whether the altitude is high or low and the camera orientations are changed accordingly. It is also possible that a table showing associations between altitude information and camera orientations may be prepared, and the camera orientations may be decided from the altitude information by looking up the table. 
     The first exemplary embodiment has described a configuration in which a threshold value of altitude is set in order to determine whether the altitude is high or low and the camera orientations are changed accordingly. It is also possible that the camera orientations may be calculated using a predetermined calculation formula to change the camera orientations. 
     The first and second exemplary embodiments have described a configuration in which the process of controlling the camera orientations is repeated every certain time. This process may be repeated every time the aircraft travels a certain distance, using a travel distance acquired from GPS module  300 . 
     The first and second exemplary embodiments have been described with the presumption that the orientations and image capturing regions of the cameras are changed in lateral directions (panning directions). The orientations and image capturing regions of the cameras may be changed in a similar manner when they are changed in vertical directions. 
     Hereinabove, exemplary embodiments have been described as examples of the technology of the present disclosure. For that purpose, the appended drawings and the detailed description have been provided. 
     Accordingly, the elements shown in the appended drawings and the detailed description may include not only the elements that are essential to solve the technical problem but also non-essential elements that are not necessary to solve the technical problem. Therefore, just because the appended drawings and the detailed description contain such non-essential elements, it should not be construed that such non-essential elements are necessary. 
     Moreover, the foregoing exemplary embodiments merely illustrate the technology of the present disclosure, and therefore, various modifications, substitutions, additions, and subtractions may be made within the scope of the claims and equivalents thereof. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure makes it available a camera control apparatus that enables image capturing with an appropriate angle of view, and is therefore applicable to a camera control apparatus for use in, for example, aircraft and trains.