Source: https://patents.google.com/patent/CN101605209B/en
Timestamp: 2020-02-23 15:33:02
Document Index: 452163241

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CN101605209B - Image pick up device and image reproduction device - Google Patents
Image pick up device and image reproduction device Download PDF
CN101605209B
CN101605209B CN 200910202859 CN200910202859A CN101605209B CN 101605209 B CN101605209 B CN 101605209B CN 200910202859 CN200910202859 CN 200910202859 CN 200910202859 A CN200910202859 A CN 200910202859A CN 101605209 B CN101605209 B CN 101605209B
CN 200910202859
CN101605209A (en
横畠正大
藤田日出人
克拉丽莎·梁
2008-05-26 Priority to JP2008-136986 priority Critical
2008-05-26 Priority to JP2008136986 priority
2009-04-08 Priority to JP2009-093571 priority
2009-04-08 Priority to JP2009093571A priority patent/JP2010011441A/en
2009-05-26 Application filed by 三洋电机株式会社 filed Critical 三洋电机株式会社
2009-12-16 Publication of CN101605209A publication Critical patent/CN101605209A/en
2013-05-01 Publication of CN101605209B publication Critical patent/CN101605209B/en
The present invention provides an image pick up device and image reproduction device. Wherein the image pick up device comprises an image pick up element outputting signal representing picked up image column with pick up in sequence; a track processing part detecting position of the track target on the column based on the output signal of the pick up element in sequence and tracking the track target on the picked up image column; a select processing part setting cut and selected zone in the picked up image according the position detected based on the picked up image, and extracting image in the zone as cut image or outputting cut information of position and size of the cut zone; and a track estimation part estimating degree of the reliability and easiness based on the track of the track processing part based on the output signal of the pick up element. The cut processing part changes size of the cut zone based on the estimation.
Camera head and image-reproducing apparatus
The present invention relates to a kind of camera head that can the taking moving image.In addition, the invention still further relates to a kind of image-reproducing apparatus that moving image is regenerated.
Seizure and the following function of moving object in utilizing the system of rig camera, have been realized.In this system, detect moving object in the appointed area from the image that obtains based on rig camera
Will report to the police when (suspicious person).In addition, thus having the system that the function that shows tracking results easily confirms the monitor staff also is practical gradually.
Utilize the tracking technique of image to adopt following methods to realize: after setting tracing mode, the pattern matching method of search pattern position in image; Method based on optics flow detection moving object position; The method of the characteristics of objects of taking pictures such as tracking color etc.
In the past, be embodied as seizure and the tracking technique that purpose has been studied the moving object of adopting the image processing with the utilization in rig camera or robot vision, but in recent years, also in the digital camera of ordinary consumer, bringing into use this technology.For example, the object and by cutting the method for the image of processing the composition that cuts the object of taking pictures that is suitable for paying close attention to from photographic images of taking pictures of following the tracks of appointment is disclosed.
If carry out the object of mainly taking pictures is processed and cut as the tracking of tracking target the image-region of the picture that comprises tracking target from photographic images, then can provide the moving image that tracking target is had good composition to the user.But, all the time success of tracking of processing based on image, to cause camera to lose tracking target also very common because various factors changes the easness of following the tracks of.For example, when following the tracks of based on the colouring information of tracking target, if the color similarity of background color and tracking target, thus can exist the easness of tracking to reduce the situation that camera is lost tracking target.If the easness of following the tracks of reduces, then obviously also can reduce the reliability of tracking.
Shown in Figure 30 (a), under the high state of the reliability of following the tracks of or easness, cut zone 902 what tracking targets 900 were paid close attention in photographic images 901 interior settings, and the image that will cut in the zone 902 generates and records and get final product as cutting image.But, under the low state of the reliability of following the tracks of or easness, if carry out identically when high with reliability or easness cutting processing, then might as Figure 30 (b) shown in, not have tracking target 910 cutting in regional 912 of photographic images 911 interior settings.Figure 30 (b) follows the tracks of when processing in color-based information, thereby suppose that object that existence in the middle of the background has a color of the tracking target of being similar to thinks this object by mistake in the figure of the situation when being tracking target.
Although comprised the object of mainly taking pictures as tracking target in the shooting area of camera, but the situation that cuts the picture that does not comprise this object of mainly taking pictures in the image that records in the camera is least to wish situation about occuring, and therefore should do one's utmost to avoid the generation of this situation.
More than put down in writing and to have utilized the problem of paying close attention to the cutting when processing of tracking target (, when utilizing electronic zoom), but paid close attention to tracking target and also can produce same situation when carrying out optical zoom.In addition, if the processing that will should carry out when taking is carried out, then also same situation can occur when image regeneration.Moreover, when wanting to realize to pay close attention to the auto focus control etc. of tracking target also same situation can occur.
In addition, proposed the various technology of utilizing electronic zoom and/or optical zoom to obtain the image of paying close attention to tracking target, but in technology in the past, in fact reliability or the easness followed the tracks of have not been paid attention to.In addition, also proposed the technology in the zone that correspondingly utilizes in the mobile auto focus control with the movement of tracking target in image, but also do not paid attention in this technology to reliability or the easness of following the tracks of.
The 1st camera head of the present invention is characterised in that to have: imaging apparatus, and it is by taking successively the signal of exporting expression photographic images row; Follow the tracks of handling part, its output signal based on described imaging apparatus detects the position of the tracking target that described photographic images lists successively, follows the tracks of described tracking target thereby list at described photographic images; Cut handling part, it is set in described photographic images based on detected described position by each photographic images and cuts the zone, and extracts the described interior image in zone that cuts as cutting the described position in zone and the information that cuts of size of cutting of image or output expression; With tracking evaluation section, it is according to the output signal of described imaging apparatus, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness; The described handling part that cuts changes the described size that cuts the zone according to the described degree of estimating out.
That is, particularly, for example, the described handling part that cuts makes described degree be evaluated as size that described when higher cut the zone to be evaluated as described when relatively lower than described degree to cut the size in zone less.
In addition, particularly, for example, the described handling part that cuts is set the described size that cuts the zone based on the size of the described degree of estimating and the described tracking target on the photographic images.
In addition, particularly, for example, the photographic images conduct of the described photographic images row of described tracking evaluation section's acceptance formation is by the arithmograph picture, described overall region by the arithmograph picture is divided into tracking target zone and the background area in addition, described tracking target zone that described tracking target occurs, and according to the characteristics of image of the characteristics of image in described tracking target zone and described background area to recently estimating described degree.
The 2nd camera head of the present invention is characterised in that to have: imaging apparatus, and it is by taking successively the signal of exporting expression photographic images row; Follow the tracks of handling part, its output signal based on described imaging apparatus detects the position of the tracking target that described photographic images lists successively, follows the tracks of described tracking target thereby list at described photographic images; The adjustment part, visual angle, it adjusts the visual angle in taking; With tracking evaluation section, it is according to the output signal of described imaging apparatus, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness; Adjustment part, described visual angle changes described visual angle according to the described degree of estimating out.
Namely, particularly, for example, adjustment part, described visual angle makes the size of the described tracking target on the photographic images larger according to being be evaluated as in described degree when higher, and be evaluated as the less mode of size that makes the described tracking target on the photographic images when hanging down in described degree, adjust described visual angle according to described degree.
In addition, particularly, for example, described visual angle is set based on the described degree of estimating and the size of the described tracking target on the photographic images in adjustment part, described visual angle.
The 1st image-reproducing apparatus of the present invention is a kind of picture signal that will cut image column to display part or to the device of outside output, it is characterized in that, have: image acquiring unit, it reads by photographic subjects being taken successively the picture signal that obtains from record section, thereby obtains the input picture row based on described picture signal; Follow the tracks of handling part, its picture signal based on described input picture row detects the position of the tracking target that described input picture lists successively, follows the tracks of described tracking target thereby list at described input picture; Cut handling part, it is set in described input picture based on detected described position by each input picture and cuts the zone, and extracts the described interior image in zone that cuts as cutting image; With tracking evaluation section, it is according to the image information of described input picture row, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness; The described handling part that cuts changes the described size that cuts the zone according to the described degree of estimating out.
The 3rd camera head of the present invention is characterised in that to have: imaging apparatus, and it is by taking successively the signal of exporting expression photographic images row; Follow the tracks of handling part, its output signal based on described imaging apparatus detects the position of the tracking target that described photographic images lists successively, follows the tracks of described tracking target thereby list at described photographic images; Region setting part, it sets the evaluation of estimate collecting zone based on detected described position in each photographic images; Obtain the condition control part, it controls the condition of obtaining of described photographic images row based on the picture signal in the described evaluation of estimate collecting zone of each photographic images; With tracking evaluation section, it is according to the output signal of described imaging apparatus, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness; Described region setting part changes the size of described evaluation of estimate collecting zone according to the described degree of estimating out.
It is characterized in that of the 2nd image-reproducing apparatus of the present invention, have: image acquiring unit, it reads by photographic subjects being taken successively the picture signal that obtains from record section, thereby obtains the input picture row based on described picture signal; Follow the tracks of handling part, its picture signal based on described input picture row detects the position of the tracking target that described input picture lists successively, follows the tracks of described tracking target thereby list at described input picture; Region setting part, it sets the evaluation of estimate collecting zone based on detected described position in each input picture; The output image generating unit, it generates based on the picture signal in the described evaluation of estimate collecting zone of each input picture the output image that described input picture is listed as after processing is listed as; With tracking evaluation section, it is according to the image information of described input picture row, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness; This image-reproducing apparatus with the picture signal of described output image row to display part or to the device of outside output, described region setting part changes the size of described evaluation of estimate collecting zone according to the described degree of estimating out.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described tracking evaluation section also can estimate described degree based on the size of the tracking target on described photographic images or the described input picture.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described tracking evaluation section also can estimate described degree based on the position of the tracking target on described photographic images or the described input picture.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described degree is estimated in the motion of the tracking target that described tracking evaluation section also can list based on described photographic images row or described input picture.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, the variable quantity of the characteristics of image of the tracking target that described tracking evaluation section also can list based on described photographic images row or described input picture is estimated described degree.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, estimate described degree the contrast between the characteristics of image of the described tracking target that described tracking evaluation section can be on described photographic images or described input picture and the characteristics of image of described tracking target periphery.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described tracking evaluation section also can estimate described degree based on the brightness of the periphery of the described tracking target on described photographic images or the described input picture.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described tracking evaluation section also can estimate described degree based on the result that infers for the light source color temperature of described tracking target.
In addition, for example, in above-mentioned camera head or image-reproducing apparatus, described tracking evaluation section also can estimate described degree based on the size of the noise that comprises in described photographic images or the described input picture.
Meaning of the present invention or effect will become clearer and more definite by the explanation of following execution mode.But following execution mode is an embodiment of the invention all the time, and the term meaning of the present invention or each structural element is not limited in the disclosed content of following execution mode.
Fig. 1 is the integral module figure of the camera head of the 1st execution mode of the present invention.
Fig. 2 is the cut-away view of the image pickup part of Fig. 1.
Fig. 3 is the stereoscopic figure of the camera head of Fig. 1.
Fig. 4 is the particularly module map of the parts of the relevant object following function of taking pictures that is arranged in the 1st execution mode of the present invention in the camera head.
Fig. 5 is the flow chart of flow process of the action of camera head in the screening-mode of expression the 1st execution mode of the present invention.
Fig. 6 is the figure that the initial setting of reference in following the tracks of processing in expression the 1st execution mode of the present invention is used an example of two field picture.
Fig. 7 is as the figure of situation that is looked like to be divided into a plurality of fritters by arithmograph of two field picture in expression the 1st execution mode of the present invention.
Fig. 8 is the figure of the evaluation method of the tracking reliability carried out by the tracking reliability evaluation section of Fig. 4 for explanation, at the figure as the center of the tracking target that superposeed by the arithmograph picture of two field picture etc.
Fig. 9 (a)～(c) is according to the figure of situation that follows the tracks of the variable setting of reliability and cut the size in zone in expression the 1st execution mode of the present invention.
Figure 10 is the flow chart that cuts the establishing method step in zone in expression the 1st execution mode of the present invention.
Figure 11 be in the 1st execution mode of the present invention on the XY coordinate plane figure of presentation video.
Figure 12 (a) is the figure in tracking target zone in the two field picture of expression the 1st execution mode of the present invention.
Figure 12 (b) be the expression the 1st execution mode of the present invention two field picture in cut the zone figure.
Figure 13 is the regional figure from the outstanding situation of two field picture that cuts that temporarily sets in expression the 1st execution mode of the present invention.
Figure 14 is by the two field picture row of time series arrangement and the figure that cuts image column that extracts from these image column in expression the 1st execution mode of the present invention.
Figure 15 is the particularly module map of the parts of the relevant object following function of taking pictures that is arranged in the 2nd execution mode of the present invention in the camera head.
Figure 16 is the flow chart of flow process of the action of camera head in the screening-mode of expression the 2nd execution mode of the present invention.
Figure 17 is the figure of the relation between zoom lens position, visual angle, the optical zoom multiplying power in expression the 2nd execution mode of the present invention.
Figure 18 (a)～(c) is according to the figure of the situation of following the tracks of reliability variable setting visual angle (shooting visual angle) in expression the 2nd execution mode of the present invention.
Figure 19 is the part of module figure of the camera head of the 3rd execution mode of the present invention.
Figure 20 is the internal module figure that is arranged on the AF evaluation of estimate calculating part on the camera head of the 3rd execution mode of the present invention.
Figure 21 is the figure that comprises the situation of a plurality of fritters in the AF evaluation region that arranges in the two field picture of the 3rd execution mode of the present invention.
Figure 22 is the flow chart of flow process of action of camera head of the relevant screening-mode of expression the 3rd execution mode of the present invention.
Figure 23 is the part of module figure of the camera head of the 4th execution mode of the present invention.
Figure 24 is the flow chart of step of the processing of execution when image regeneration move in expression the 4th execution mode of the present invention.
Figure 25 be in expression the 5th execution mode of the present invention optical flow between two two field pictures and two images to figure.
Figure 26 is by the figure at the center of the picture centre on the arithmograph picture and tracking target in expression the 6th execution mode of the present invention.
Figure 27 is by the two field picture row of time series arrangement and the figure of the motion vector between two field picture in expression the 6th execution mode of the present invention.
Figure 28 is the peripheral intensity level of tracking target of expression the 6th execution mode of the present invention and the figure of the relation between the reliability evaluation of estimate.
Figure 29 is the figure of the color temperature distribution of inferring by each tracking target two field picture in expression the 6th execution mode of the present invention.
Figure 30 (a) and (b) be to represent in the prior art respectively in the reliability of following the tracks of or easness is higher and the figure that cuts regional setting example of hypothesis when relatively lower.
Below, specify embodiments of the present invention with reference to figure.Among each figure that is referenced, add identical symbol in identical part, and omitted in principle the repeat specification about identical part.
At first, the 1st execution mode of the present invention is described.Fig. 1 is the integral module figure of the camera head of the 1st execution mode.Camera head 1 is the Digital Video that can take and record still image and moving image.
Camera head 1 has: image pickup part 11, AFE (Analog Front End) 12, master control part 13, internal storage 14, display part 15, recording medium 16, operating portion 17.
Fig. 2 represents the cut-away view of image pickup part 11.Image pickup part 11 has optical system 35, aperture 32, the imaging apparatus (solid-state imager) 33 that is made of CCD (Charge Coupled Devices) or CMOS (Complementary MetalOxide Semiconductor) imageing sensor, the driver 34 that is used for driving control optical system 35 or aperture 32.Optical system 35 is formed by a plurality of lens that comprise zoom lens 30 and condenser lens 31.Zoom lens 30 and condenser lens 31 can be mobile at optical axis direction.Driver 34 passes through based on the control signal from master control part 13, each position of zoom lens 30 and condenser lens 31 and the aperture of aperture 32 are driven control, thus the control focal length (visual angle) of image pickup part 11 and focal position and the incident light quantity that incides imaging apparatus 33.
The take pictures optical image of object of 33 pairs of expressions by optical system 35 and aperture 32 incidents of imaging apparatus carries out light-to-current inversion, and the signal of telecommunication that obtains by this light-to-current inversion to AFE12 output.More specifically, imaging apparatus 33 has a plurality of light receiving pixels of rectangular two-dimensional arrangements, and each light receiving pixel is accumulated the signal charge with the corresponding quantity of electric charge of time for exposure in each is taken.Have to the proportional size of the quantity of electric charge of the signal charge of accumulating from the analog signal of each light receiving pixel along with at the driving pulse of camera head 1 interior generation and export to AFE12 successively.The length of time for exposure is by master control part 13 controls.
AFE12 amplifies from the analog signal of image pickup part 11 (imaging apparatus 33) output, and the analog signal that is exaggerated is transformed to digital signal.AFE12 exports this digital signal successively to master control part 13.The magnification ratio that the signal of AFE12 amplifies is by master control part 13 controls.
Master control part 13 has CPU (Central Processing Unit), ROM (Read OnlyMemory) and RAM (Random Access Memory) etc., plays the effect of signal of video signal handling part.Master control part 13 generates expression by the signal of video signal of the image of image pickup part 11 shootings based on the output signal of AFE12.Master control part 13 also has the function as the display control unit of the displaying contents of control display section 15 in addition, and display part 15 is shown the control of upper necessity.
Internal storage 14 is formed by SDRAM (Synchronous Dynamic Random AccessMemory) etc., temporarily stores the various data of camera head 1 interior generation.Display part 15 is the display unit that are made of display panels etc., under the control of master control part 13, shows the image of taking or is stored in image on the recording medium 16 etc.Recording medium 16 is the nonvolatile memories such as SD (SecureDigital) storage card, under the control based on master control part 13, and the image that storage is taken etc.
The operation that operating portion 17 is accepted from the outside.Content of operation to operating portion 17 is communicated to master control part 13.Have in the operating portion 17 shooting that is used to indicate still image and record shutter release button (not shown), be used to indicate the shooting of moving image and the record button of record (not shown) etc.
The pattern of camera head 1 comprises: can take still image or moving image screening-mode, can be stored in still image in the recording medium 16 or the regeneration mode of moving image in display part 15 regeneration.Under screening-mode, take successively and obtain photographic images row from imaging apparatus 33 with the frame period of regulation.Each image that consists of these photographic images row is called " two field picture ".Image column (for example photographic images row) means a plurality of images by the time series arrangement.Two field picture can be listed as moving image and be presented in the display frame of display part 15.
Fig. 3 represents the stereoscopic figure of the camera head 1 seen from photographer's one side.Also illustrate the people as the object of taking pictures among Fig. 3.Photographer can confirm the coverage of camera head 1 by the apperance of the object of taking pictures in the display frame of confirming to be presented at display part 15.
Camera head 1 has the object following function of taking pictures of utilizing image to process, and is realizing that this carries out characteristic action when taking pictures the object following function.By operating portion 17 is implemented predetermined operation so that the object following function of taking pictures becomes effectively.Action shown below as long as do not do is particularly limited, and the object following function of taking pictures becomes the action (also identical to other execution mode described later) of the camera head 1 when effective.In addition, the data with presentation video are called view data.The optical image of this two field picture of pictorial data representation of certain two field picture, and generated by the output signal of AFE12.Also view data can be referred to as picture signal.In addition, when the signal that is called the presentation video data and signal of video signal were also arranged, view data and signal of video signal were equivalent.
Fig. 4 be in the camera head 1 particularly with the module map of the relevant parts of object following function of taking pictures.Among Fig. 4, each parts that is represented by symbol 51～54 are arranged in the master control part 13 of Fig. 1.The view data that forms each two field picture of two field picture row is distributed to successively tracking handling part 51, follows the tracks of reliability evaluation section 52 and is cut handling part 53.
Tracking handling part 51 detects the position of the specific object of taking pictures in each two field picture, the thus position of the specific object of taking pictures in the tracking frame image column successively by the view data based on the two field picture row.The specific object of taking pictures that the below should follow the tracks of is called " tracking target ".Consider the situation that tracking target is behaved.
Tracking handling part 51 also has the function as face detection section (not shown), detects people's face from two field picture based on the view data of two field picture, and extracts the face area that comprises detected face.The processing that realizes this function is called the face detection processing.Be included in as detection that the method for the face in the image is known various methods, follow the tracks of handling part 51 and can adopt any method.For example, such as the disclosed method of JP 2000-105819 communique, can detect face's (face area) by extracting area of skin color from two field picture, also can utilize JP 2006-211139 communique or the disclosed method of JP 2006-72770 communique to detect face's (face area).
Follow the tracks of reliability evaluation section 52 based on the view data evaluation of two field picture row based on the reliability (degree of the reliability of tracking) of the tracking of following the tracks of handling part 51 or the easness (degree of the easiness of tracking) of following the tracks of.The reliability of following the tracks of has identical meaning or similar meaning with the easness of tracking.Say closely, the reliability of tracking is interpreted as a kind ofly representing that the tracking of carrying out in the past has many reliably indexs, and the easness of tracking is interpreted as the tracking that a kind of expression will carry out from now on the indexs that are easy to more.The reliability of the higher tracking of easness of following the tracks of also becomes higher, and the reliability of the lower tracking of easness of tracking also becomes lower.In the following description, in order to simplify narration, think " what follow the tracks of handling part 51 evaluations is the reliability of following the tracks of ", also the reliability of following the tracks of can be referred to as the easness of tracking.In addition, the easness of the reliability of tracking and tracking refers to same index.
Cut handling part 53 based on by following the tracks of result that tracking that handling part 51 carries out processes and by the evaluation result of following the tracks of the tracking reliability that reliability evaluation section 52 carries out, in two field picture, set and cut the zone, this cuts the zone and comprises the tracking target zone with view data corresponding with tracking target, cuts this from two field picture and cuts the interior image in zone.The image that cuts in the zone that cuts out is called " cutting image ".Cut the zone less than the overall region of two field picture, and cut the parts of images that image is equivalent to two field picture.Therefore, cut the picture size (pixel count of horizontal direction and vertical direction) of image less than the picture size of two field picture.Distribute to successively resolution conversion section 54 by the view data that cuts image that cuts handling part 53 generations.
Resolution conversion section 54 carry out the image that is used for improving the resolution that cuts image process (below, be called resolution improve process).For example, improve the resolution that cuts image by interpolation processing such as linear interpolations or by super clear processing.The image that cuts after especially resolution being improved is called output image.Resolution conversion section 54 generates and exports the view data of above-mentioned output image.
(action during shooting)
The operation of the camera head 1 when with reference to Fig. 5 the object following function is taken pictures in realization is described in detail.Fig. 5 is the flow chart that is illustrated in the flow process of the action of camera head 1 in the screening-mode.Under image pickup mode, the object following function of taking pictures becomes when effective, and 51 pairs of the tracking handling parts of Fig. 4 successively two field pictures of input carry out face detection and process.Two field picture update displayed on display part 15 of inputting successively.Master control part 13 is confirmed whether to have detected face (step S11) on the one hand from current two field picture, be confirmed whether that on the other hand the tracking of operating portion 17 having been carried out regulation begins indication operation (step S12), when having detected face and the tracking that operating portion 17 has carried out regulation begun the indication operation, be transitioned into the processing of step S13 execution in step S13.
In step S13, the two field picture that has detected face that tracking handling part 51 will obtain before step S13 obtains with two field picture as initial setting, sets tracking target and follows the tracks of color with the view data of two field picture based on initial setting.
Tracking target is described and follows the tracks of the establishing method of color with reference to Fig. 6.The image 201 expression initial settings of Fig. 6 one example of two field picture.In Fig. 6, dashed rectangle zone 211 is to process the face area that extracts with two field picture 201 from initial setting by face detection.The people that tracking handling part 51 will have the face that comprises in the face area 211 sets as tracking target.After extracting face area 211, follow the tracks of handling part 51 and detect body region 212 as the zone of the body part that comprises the people corresponding with this face area 211.Body region 212 is the rectangular areas in the lower side of face area 211 (from the direction side of glabella towards mouth).Depend on the position of face area 211 and position and the size that size decides body region 212 in two field picture at initial setting.
Secondly, follow the tracks of handling part 51 based on the color in the view data given body zone 212 of body region 212 interior images, specific color is set as following the tracks of color.For example, generate the color histogram of body region 212 interior images based on the color signal (for example, rgb signal) of each pixel that forms body region 212 interior images.Then, obtain dictate colors or the most frequent color of body region 212 interior images based on this color histogram, this color of obtaining is set as following the tracks of color.The dictate colors of a certain image refers to occupy the most color of the image-region of this image, and the most frequent color of a certain image refers to have in the color histogram of this image the color (dictate colors and the most frequent color are identical existence) of topnotch number.Perhaps, also can obtain by the color signal that equalization forms each pixel of body region 212 interior images the average color of body region 212 interior images, and this average color is set as following the tracks of color.
In addition, in step S13, also can and follow the tracks of color by the manual operation of operating portion 17 is set with tracking target.For example, the user sets tracking target thus by the operation of operating portion 17 being specified the position of people on two field picture that should become tracking target, and by the tracking color is specified in the operation of operating portion 17, sets thus and follow the tracks of color.
After setting tracking target and the tracking color, repeatedly carry out the circular treatment that is made of step S21～S25 in step S13, in this circular treatment, 51 pairs of tracking handling parts are set tracking target and are followed the tracks of processing with the two field picture row execution of following the tracks of afterwards acquisition of color.Each two field picture that will form especially the image column that should implement this tracking processing is called the tracking target two field picture.Follow the tracks of handling part 51 based on the view data of tracking target two field picture row, detect position and the size of the tracking target in each tracking target two field picture.
Follow the tracks of handling part 51 and follow the tracks of processing based on the colouring information that tracking target has.The method that the tracking of color-based information is processed can be used the disclosed methods such as Unexamined Patent 5-284411 communique, JP 2000-48211 communique, JP 2001-169169 communique.In above-mentioned example, show the colouring information that tracking target has according to the tracking color such as above-mentioned setting.Therefore, follow the tracks of handling part 51 and extract the zone that has with the high color of the similarity of following the tracks of color from the tracking target two field picture based on the color signal of tracking target two field picture.Here, the zone of extraction can be regarded the body region of the tracking target in the tracking target two field picture as.
More specifically, for example, in the tracking target two field picture of paying close attention to, setting has the equal big or small tracking frame of body region size with tracking target, in the hunting zone, change successively the position of following the tracks of frame, carry out simultaneously the similarity evaluation of following the tracks of between the interior color of image of frame and the tracking color, judge the body region that has tracking target in the position that obtains maximum homophylic tracking frame.The position of the tracking target of current hunting zone to the tracking target two field picture in the previous tracking target two field picture is set as benchmark.Usually, this hunting zone is the rectangular area centered by the position of the tracking target in previous tracking target two field picture, and the size of hunting zone (picture size) is less than the size of the overall region of two field picture.
Tracking handling part 51 is processed by the tracking target two field picture of continuous input is carried out based on the tracking of above-mentioned colouring information, thereby detects the position of the tracking target of each tracking target two field picture.For example, the position of tracking target is by the centre coordinate value performance of the body region of this tracking target.
In addition, the size of the tracking target on the tracking target two field picture changes because of variable in distance on the real space between tracking target and the camera head 1 etc.Therefore, need to come according to the size of the tracking target on the tracking target two field picture size of the above-mentioned tracking frame of appropriate change, this change realizes by the object size detection method of taking pictures of using in known track algorithm.For example, in the tracking target two field picture, if suppose on there be the point of point away from fully of health of tracking target in prediction, background to occur, then follow the tracks of handling part 51 and belong to background or tracking target according to the pixel that 2 characteristics of image sorts out each position of point-to-point transmission.Characteristics of image comprises monochrome information and colouring information.Inferred the profile of tracking target by this classification.Then, infer the size of tracking target from this profile, and set the size of following the tracks of frame according to this size of inferring.
The size of set following the tracks of frame is identical with the size of body region of tracking target in detecting the tracking target two field picture.In addition, because the size of tracking target and being in proportion of body region, so the size of tracking target also is determined when detecting the size of body region.Therefore, follow the tracks of handling part 51 and become position and the size that detects the tracking target in each tracking target two field picture.The tracking result information that comprises the information (in other words, the information of the position in expression tracking target zone and size) of the detected position of expression and size is communicated to tracking reliability evaluation section 52 and cuts handling part 53 (with reference to Fig. 4).
Follow the tracks of handling part 51 and can set the image-region of the overall image that tracking target occurred based on the testing result of the position of tracking target and size.In the overall region of two field picture, the image-region that the overall image of tracking target represents (zone that has the view data of expression tracking target) is called the tracking target zone, and the image-region that tracking target does not occur (zone that does not have the view data that represents tracking target) is called the background area.The tracking target zone comprises the overall image of tracking target, and is set as far as possible littlely.
In addition, method as the size of inferring the tracking target in the tracking target two field picture (size of the object of mainly taking pictures), also can adopt any means (for example, the disclosed method of JP 2004-94680 communique or the disclosed method of Unexamined Patent 9-189934 communique) of other different from above-mentioned method.
The below processes each that carry out among step S21 shown in Figure 5～S25 and describes.In step S13, set tracking target and followed the tracks of after the color the at first processing of execution in step S21.
In step S21, obtain current two field picture from the output signal of the AFE12 of 1 two field picture of current time.Here the two field picture that obtains is aforesaid tracking target two field picture.After step S22 in, follow the tracks of handling part 51 and process to detect position and the size of the tracking target in the current two field picture that in step S21, obtains by above-mentioned tracking, and generate the tracking result information of the information that comprises the detected position of expression and size, and to following the tracks of reliability evaluation section 52 and cutting handling part 53 output tracking object informations.
Among the step S23 after step S22, follow the tracks of the tracking reliability that reliability evaluation section 52 is estimated the current time, in other words, the two field picture of step S21 is estimated the reliability of the position (and size) of detected tracking target.
This evaluation method of following illustration.The evaluation of estimate of the reliability that expression has been estimated is called the reliability evaluation of estimate, and it is used EV RExpression.Can calculate the reliability evaluation of estimate by each tracking target two field picture.EV RGet the value below 100 more than 0, and follow the tracks of reliability and be evaluated to get high-reliability evaluation of estimate EV more RLarger.
The tracking target two field picture that tracking reliability evaluation section 52 will be obtained in step S21 is as being looked like to process by arithmograph.Then, as shown in Figure 7, by will being divided into polylith by the overall region of arithmograph picture in the horizontal direction with on the vertical direction, thereby in by the arithmograph picture, set a plurality of fritters.Now, the Segmentation Number with horizontal direction and vertical direction is made as respectively M and N (M and N are the integers more than 2).Each fritter is formed by a plurality of pixels of two-dimensional arrangements.In addition, by the mark of the horizontal level of the fritter in the arithmograph picture and upright position, quote m and n (m is the integer value that satisfies 1≤m≤M, and n is the integer value that satisfies 1≤n≤N) as expression.M and n are set as: m becomes larger its horizontal level just more towards right-hand, and n becomes larger its upright position just more towards the below.Horizontal level is that m, upright position are that the fritter of n is expressed as fritter [m, n].
Follow the tracks of reliability evaluation section 52 and distinguish based on tracking result information by the center of the body region of the tracking target in the arithmograph picture, which fritter the position at specific its center belongs to.Point 250 these centers of expression of Fig. 8.This center 250 of hypothesis belongs to fritter [m now O, n O] (m OThe integer value that satisfies 1≤m≤M, and n OThe integer value that satisfies 1≤n≤N).In addition, by utilizing the above-mentioned object size detection method of taking pictures, each fritter is categorized as the fritter of the view data of the fritter of view data of expression tracking target or expression background.The former fritter is called the object piece of taking pictures, and latter's fritter is called the background piece.Represented to Fig. 8 visualization to appear at the different situation of the color of tracking target of center 250 peripheries and background color.
Zone after the object piece of all can being taken pictures is synthetic is as the tracking target zone, and the zone after having powerful connections, piece synthesized is regional as a setting.
Follow the tracks of reliability evaluation section 52 and calculate the aberration evaluation of estimate of the difference between the color of tracking color that expression sets and the image in the background piece by each background piece.Suppose to have Q background piece, and use respectively C DIS[1]～C DISThe aberration evaluation of estimate that [Q] represents the 1st～the Q background piece is calculated (Q is the integer that satisfies inequality " 2≤Q≤(M * N)-1 ").For example, calculate aberration evaluation of estimate C DIS[1] time, the color signal (for example, rgb signal) that belongs to each pixel of the 1st background piece by equalization is obtained the average color of the pixel in the 1st background piece, and detects the position of this average color on the RGB color space.On the other hand, also detect the position of tracking color on the RGB color space that tracking target is set, with the distance between the two positions on the RGB color space as aberration evaluation of estimate C DIS[1] calculates.Aberration evaluation of estimate C when thus, the difference of the color of contrast increases DIS[1] can increase.In addition, the normalization RGB color space makes aberration evaluation of estimate C DIS[1] span is more than 0 below 1.Other aberration evaluation of estimate C DIS[2]～C DIS[Q] also calculated by same method.In addition, also can be the space of (for example, the HSV color space) beyond the RGB color space for the color space of obtaining the aberration evaluation of estimate.For the image-region of some concerns, it is a kind of amount (image feature amount) that represents the Characteristic of Image in this image-region that the position of color on the color space in this image-region also can be said to.
And, follow the tracks of reliability evaluation section 52 and calculate between expression center 250 and the background piece by the alternate position spike evaluation of estimate of the difference of the locus on the arithmograph picture by each background piece.Use respectively P DIS[1]～P DISThe alternate position spike evaluation of estimate that [Q] expression is calculated the 1st～the Q background piece.In 4 summits of center 250 and this background piece with respect to the distance between the nearest summit, center 250 to the alternate position spike evaluation of estimate of certain background piece.Fritter [1,1] is the 1st background piece, and 1＜m OAnd 1＜n O, as shown in Figure 8,4 summit inner vertexs of fritter [1,1], 25 1 decentres 250 are recently the time, alternate position spike evaluation of estimate P DIS[1] be by the space length on the arithmograph picture between center 250 and the summit 251.Normalization is made alternate position spike evaluation of estimate P by the area of space of arithmograph picture DIS[1] span is more than 0 below 1.Other alternate position spike evaluation of estimate P DIS[2]～P DIS[Q] also calculated by same method.
Follow the tracks of reliability evaluation section 52, based on the aberration evaluation of estimate of obtaining as described above and alternate position spike evaluation of estimate, by following formula (1) calculate to pay close attention to by the combined distance CP of arithmograph picture DISThen, utilize this combined distance CP DIS, by following formula (2) calculate to pay close attention to by the reliability evaluation of estimate EV of arithmograph picture RThat is, " CP DIS＞100 " make " EV the time R=0 ", " CP DIS≤ 100 " make " EV the time R=100-CP DIS".Recognized by these computational methods and to exist near the tracking target and the background of following the tracks of the homochromy or Adjacent color of color, then reliability evaluation of estimate EV RWill reduce.
CP DIS = &Sigma; i = 1 Q ( 1 - C DIS ( i ) ) &times; ( 1 - P DIS ( i ) ) . . . ( 1 )
In the step S23 of Fig. 5, estimated after the tracking reliability processing of execution in step S24.In step S24, cut handling part 53 based on the up-to-date tracking result information of exporting from tracking handling part 51 with by the up-to-date tracking reliability of following the tracks of 52 evaluations of reliability evaluation section, set in the overall region of the two field picture that in step S21, obtains and cut the zone, this image that cuts in the zone is cut out from this two field picture as cutting image.
At this moment, if the size of the tracking target on the two field picture is certain, then shown in Fig. 9 (a)～(c), sets and cut the zone, make the size that cuts the zone uprise and reduce along with following the tracks of reliability.Fig. 9 (a), (b) and (c) expression follow the tracks of that reliability is respectively the 1st, the 2nd, the situation of the setting that cuts the zone during the 3rd reliability.Suppose that the 1st reliability is the highest reliability in the 1st～the 3rd reliability, the 3rd reliability is minimum reliability.In Fig. 9 (a)～(c), image 271～273 expressions in four jiaos of frames of solid line should be set the two field picture that cuts the zone, and image 281～283 expressions in four jiaos of frames of dotted line cut the zone.The people who respectively cuts in the zone is tracking target.Since the similar color of the tracking color that has of tracking target be positioned at tracking target around, therefore low than the tracking reliability of two field picture 271 to the tracking reliability of two field picture 272 and 273.
The size that cuts zone 281 that two field picture 271 is set is less than the size that cuts zone 282 that two field picture 272 is set, and the size that cuts zone 282 is less than the size that cuts zone 283 that two field picture 273 is set.The size that cuts the zone is the picture size that cuts the zone that expression cuts regional size, represents by belonging to the pixel count that cuts in the zone.
Illustrate in greater detail the example of the establishing method that cuts the zone of step S24 with reference to Figure 10.Figure 10 is the flow chart that expression cuts the establishing method step in zone, carries out successively respectively processing of step S31 shown in Figure 10～S35 by cutting handling part 53.
Illustrate before the processing shown in Figure 10, first with reference to the meaning of the coordinate figure on Figure 11 key diagram picture etc.Figure 11 is the figure that has represented the arbitrary image 300 of two field picture etc. at the XY coordinate plane.The XY coordinate plane is with orthogonal X-axis and the Y-axis two-dimensional coordinate plane as reference axis, the direction that X-axis is extended and the horizontal direction parallel of image 300, and the direction of Y-axis extension is parallel with the vertical direction of image 300.In addition, when the object on the discussion image or zone, size (size) on X-direction obtains as the width in object or zone with this object or zone, and the size (size) on Y direction obtains as the height in object or zone with this object or zone.Coordinate figure with certain point of the concern on (x, y) presentation video 300.The horizontal direction of the point that x and y pay close attention to respectively and the coordinate figure of vertical direction.X-axis and Y-axis are intersected at initial point O, and from initial point O, the positive direction of X-axis is to right, and the negative direction of X-axis is direction left, and the positive direction of Y-axis is upward direction, and the negative direction of Y-axis is downward direction.
Each processing to step S31 shown in Figure 10～S35 describes.At first, in step S31, cut the height H that handling part 53 utilizes the tracking target that is represented by tracking result information A, and by formula " H B=k 1* H A" calculate and cut height H Bk 1It is the large constant of predefined ratio 1.Expression should be set the two field picture 310 that cuts the zone in Figure 12 (a), and is had the tracking target zone of the view data of tracking target in two field picture 310 by rectangular area 311 expressions.Expression and the identical two field picture 310 shown in Figure 12 (a) in Figure 12 (b), and two field picture 310 represented the zone that cuts that should set by rectangular area 312.In addition, in Figure 12 (a), represented the tracking target zone by the rectangular area, but the profile in tracking target zone is not limited only to rectangle.
Size (size) as the short transverse in the tracking target zone of rectangular area 311 is the height H of tracking target A, as the size (size) of short transverse that cuts the zone of rectangular area 312 for cutting height H BIn addition, respectively by H OAnd W OThe short transverse of the overall region of expression two field picture 3 10 and the size (size) of Width.
That calculates in step S31 cuts highly, follows the tracks of the reliability evaluation of estimate EV of reliability in step S32 according to expression RRevise.The revised height that cuts is by H B' expression (still, also has and does not carry out substantial correction and become H B'=H BSituation).Particularly, by more up-to-date reliability evaluation of estimate EV RThreshold value TH with regulation 1, TH 2Judge which the inequality establishment in the 1st～the 3rd following inequality.Preset threshold value TH 1And TH 2, make inequality " 100＞TH 1＞TH 2＞0 " setting up, for example is TH 1=95 and=TH 2=75.
And, the 1st inequality " EV R〉=TH 1" when setting up, at H B' the position on substitution H BThat is, when the 1st inequality is set up, cutting highly of calculating in step S31 do not revised.
The 2nd inequality " TH 1＞E V R〉=TH 2" when setting up, by formula " H B'=H B* (1+ (1-EV R/ 100)/2)) " calculate the revised height H that cuts B'.That is, when the 2nd inequality is set up, increase correction and cut height.
The 3rd inequality " TH 2＞EV R" when setting up, at H B' the position on substitution H BOH BOBe based on the height H of two field picture 310 OConstant, for example, with height H OConsistent constant or compare height H OSmaller constant.When the 3rd inequality is set up, also increase correction and cut height.
Among the step S33 after step S32, utilize the revised height H that cuts B', by formula " W B=k 2* H B' " calculate and cut width W BCut width W BIt is the size (size) as the Width that cuts the zone of rectangular area 312.In addition, k 2Predefined constant (for example, k 2=16/9).When if the size of the Width in tracking target zone is not large singularly compared with the size of short transverse, will becomes and cut district inclusion tracking target zone.In this example, supposed that tracking target is behaved and people's the individual sub-direction situation consistent with the vertical direction of image, the size of not setting Width is compared with the size of short transverse large tracing area singularly.
Afterwards, in step S34, cut handling part 53 obtains tracking target from tracking result information center C N ACoordinate figure (x A, y A), and set the center C N that cuts the zone BCoordinate figure (x B, y B), make (x B, y B)=(x A, y A).
This in stage set cut the zone and might comprise from the outstanding zone of the overall region of two field picture 310.For example, might be as shown in figure 13, the subregion that cuts regional 312a is positioned at outside two field picture 310 overall region and top one side of two field picture 310.Be positioned at two field picture 310 overall region subregion outer, that cut the zone and be called outburst area.The size of the projected direction of outburst area is called overhang.
In step S35, judge whether to exist outburst area.When not having outburst area, by the height H that cuts of setting by the processing of step S31～S34 B', cut width W B, coordinate figure (x B, y B) determine cut the zone, become the final zone that cuts that in step S24 shown in Figure 5, should set.
When having outburst area, to the height H that cuts of being set by the processing by step S31～S34 B', cut width W B, coordinate figure (x B, y B) zone that cuts that determines cuts the position adjustment, cuts the zone as the final zone that cuts that should set with cutting after the adjustment of position in step S24 shown in Figure 5.
In cutting the position adjustment, revise the center C N that cuts the zone BCoordinate figure, making overhang is zero just.For example, as shown in figure 13, be extruded with when cutting regional 312a on top one side of two field picture 310, will cut the center C N in zone BMobile and overhang is measured accordingly downwards.That is, establish overhang when being Δ y, by " y B'=y B-Δ y " calculate revised y axial coordinate value y B', the final center C N that cuts the zone that will in step S24 shown in Figure 5, should set BCoordinate figure be made as (x B, y B').
Similarly, be extruded with when cutting the zone on below one side of two field picture, will cut the center C N in zone BBe moved upward with overhang and measure accordingly, be extruded with when cutting the zone on the right side of two field picture, will cut the center C N in zone BDirection moves with overhang and measures accordingly left, is extruded with when cutting the zone on the left side of two field picture, will cut the center C N in zone BMove with overhang to right and to measure accordingly, the zone that cuts after the movement is set as the final zone that cuts.
In addition, by moving to the below that cuts the zone, cut the zone below a side when zone outstanding again occurring cutting, the size (cut height and cut width) that cuts the zone is reduced correction should be outstanding so that eliminate.Cutting height H B' situation about revising easily occurs when larger to need to reduce.
Referring again to Fig. 5.As mentioned above, set and cut the zone, and the two field picture that obtains from step S21 generation cuts after the image processing of execution in step S25.In step S25, resolution conversion section 54 improves to process and generates output image (that is, improve after the resolution the image that cuts) by carry out to be used for improving the resolution that cuts image resolution ratio.
Resolution improve to be processed, and for example, the interpolation processing of the view data by utilizing a two field picture realizes.At this moment, for example, the picture size that should cut the two field picture of image is 1920 * 1080, and the picture size that cuts image before the raising resolution is 960 * 540 o'clock, by respectively in the horizontal direction with vertical direction on will improve the picture size that cuts image before the resolution be extended to 2 times generate have 1920 * 1080 picture size cut image (that is, improve after the resolution the image that cuts).Realize the expansion of picture size by the resolution conversion that utilizes interpolation processing.Can utilize the whole bag of tricks such as neighbor point (nearest neighbor) method, bilinearity method, bicubic method as the method for interpolation processing.
In addition, also can be after the raising resolution that obtains through above-mentioned interpolation processing cut image (below, be called image before the sharpening) further apply sharpening and process, image after sharpening processed (below, be called image behind the sharpening) is as the output image of resolution conversion section 54.For example, also can implement to have utilized the filtering of the outstanding filter (differential filter etc.) in edge or unsharp masking filter (unsharp mask filter) generate image behind the sharpening by image before sharpening.Utilize the filtering of unsharp masking filter to be called unsharping making (unsharp masking).In unsharping making, image generates after the smoothing image before the smoothing sharpening, generates the difference image between the front image of this smoothing image and sharpening.Then, make before each pixel value of this difference image and the sharpening each pixel value of image complement each other to generate image behind the sharpening by image before synthetic difference image and the sharpening.
Perhaps, can realize by the super clear processing that has utilized many two field pictures that also resolution improves processing.In super clear processing, a plurality of low-resolution images with reference to the location skew, based on the view data of the position offset between a plurality of low-resolution images and a plurality of low-resolution images, generate a high-definition picture by the high-definition that carries out low-resolution image.Resolution conversion section 54 can utilize known arbitrarily super clear processing.For example, can utilize the disclosed super clear processing methods such as JP 2005-197910 communique, JP 2007-205 communique, JP 2007-193508 communique.
For example, when utilizing 3 two field pictures to carry out super clear processing, be handled as follows.Current, during every time through 1 frame period, access t constantly in order N-2, t N-1, t n, t N+1, t N+2..., as shown in figure 14, at moment t N+iThe two field picture that obtains is called constantly t N+iTwo field picture (i is integer).Then, use CI N+iExpression is from moment t N+iTwo field picture cut cut image.At this moment, utilize 3 to cut image C I N+i, CI N+i+1, CI N+i+2Generate a high-definition picture.
Consider that I enumerates object lesson for the situation of (2).Obtaining cutting image C I nThe moment, cut image C I with reference to 3 N-2, CI N-1, CI n, will cut image C I N-2, CI N-1, CI nProcess as the 1st, the 2nd, the 3rd observation low-resolution image respectively and carry out super clear processing.The 1st observation low-resolution image as benchmark, is detected position offset and the 1st and the 3rd position offset of observing between the low-resolution image between the 1st and the 2nd observation low-resolution image.Position offset is the two dimension amount that comprises horizontal component and vertical component, is also referred to as amount of exercise or motion vector.Position offset utilizes representative point matching method, BMA, gradient method etc. to detect, and makes it have the resolution of sub-pixel.That is, will come the detection position side-play amount as minimum detection unit than the short distance in interval of the adjacent pixel in the observation low-resolution image.
On the other hand, as initial high-definition picture, generate the image behind the pixel count of the horizontal and vertical direction utilize linear interpolation or bicubic interpolation to increase the 1st observation low-resolution image.Then, utilize detected above-mentioned each position offset, infer 3 low-resolution images of the high-definition picture of constructing current time, and the renewal high-definition picture makes each low-resolution image and the error between each observation low-resolution image of inferring minimum.After being equivalent to resolution and improving, the high-definition picture that finally obtains cuts image C I N-2Other cut the image raising resolution that also uses the same method.For example, to cutting image C I N-1The raising utilization of resolution cut image C I N-1, CI n, CI N+1Realize.
The processing of the step S25 of Fig. 5 is got back to step S21 after finishing, and repeatedly carries out the circular treatment that is made of above-mentioned step S21～S25.
As moving image, display part 15 show obtain by repeatedly carrying out of above-mentioned circular treatment, by the output image row of the resolution conversion section 54 of time series arrangement, and, with the Imagery Data Recording of these output image row in recording medium 16.But, also can show at display part 15 as moving image to be input to the two field picture that cuts handling part 53 or from cutting the image column that cuts of handling part 53 outputs, and can in recording medium 16, record the view data that two field picture was listed as and cut image column.
If the view data in the recording medium 16 is read into arbitrarily image-reproducing apparatus, then can regenerate on this image-reproducing apparatus shows the moving image that cuts image that has good composition with respect to tracking target.Particularly, if the view data that cuts image after the energy readout resolution improves, then can regenerate shows the moving image that cuts figure line of fine.
During the moving image capture of the object of taking pictures that carries out paying close attention to, in order not lose its object of taking pictures, need to when taking pictures object, the display frame affirmation of camera head operate shooting direction and the zoom ratio of camera head according to the motion of the object of taking pictures in the past.Therefore, photographer must concentrate on shooting, Yi Bian be difficult to link up with the object of taking pictures of paying close attention on one side take, Yi Bian or attentiveness is placed on other local shooting on one side.On the other hand, according to present embodiment, as long as take with wider visual angle so that in shooting area, hold the object of taking pictures (that is, tracking target) of concern, just can follow the tracks of the image that cuts that processing generates the object of taking pictures that comprises concern successively that cuts of processing by having utilized.Therefore, as long as photographer is with the direction of camera head towards the object of taking pictures of paying close attention to, even if do not paid close attention to the image that also can obtain the own object of taking pictures of expecting.And, during regeneration, can appreciate the image of the object of taking pictures of the concern that cuts with suitable composition.
Carry out this and cut when processing, as mentioned above, the tracking reliability will cut zone when higher size becomes less, follows the tracks of the size that will cut the zone when reliability is hanged down and becomes larger.Therefore, can obtain to have the moving image of good composition to the object of taking pictures of paying close attention to, and follow the tracks of reliability when low, the object of taking pictures that can avoid paying close attention to is not included in the generation that cuts the situation (with reference to Figure 30 (b)) in the zone.
In addition, in the above description, set the situation that includes only 1 people in the shooting area of camera head 1, but when in shooting area, comprising a plurality of people, selected 1 people in the middle of these many people to get final product as tracking target.For example, with the face area that extracts each personage the two field picture, the initial examination and measurement that shows face area clear and definite in the display frame of display part 15 should be elected to be a people of tracking target with on the basis of two field picture by user selection from initial examination and measurement.This selection is undertaken by the operation to operating portion 17.Perhaps, display part 15 is worked as so-called touch panel, select by the operation to this touch panel.Perhaps, further also can on camera head 1, register in advance the image of the personage's that should be elected to be tracking target face.At this moment, whether the face of camera head 1 this registration of automatic search is included in initial examination and measurement with in the two field picture, and the face that is judged as registration is included in initial examination and measurement with in the two field picture time, selects to have the people of the face of this registration as tracking target.
In addition, when in shooting area, comprising a plurality of people, also can be respectively with a plurality of people as tracking target, and set a plurality of tracking target zones that comprise tracking target.For example, when in shooting area, comprising 2 people, with everyone as tracking target, individual settings show a side bust tracking target zone and show the tracking target zone of the opposing party's bust.Then, the regional setting of each tracking target cut the zone, extract 2 from 1 two field picture and cut image, also can on recording medium 16, improve the front or rear view data that respectively cuts image by indivedual storage resolutions.When image regeneration, for example, by the people in the middle of above-mentioned two people of user selection, the people who selects regenerated shows that the moving image that cuts image gets final product.
(action during image regeneration)
More than illustrated about when taking, carrying out to follow the tracks of and processed, cut and process and resolution improves operation when processing, but these processing also can be carried out when image regeneration.The action of the camera head 1 when image regeneration at this moment is described.Before this image regeneration action, all Imagery Data Recordings that the two field picture by the time series arrangement that obtains during the taking moving image is listed as are in recording medium 16.
When image regeneration, from recording medium 16 with the time series order read successively two field picture to the tracking handling part 51 that is configured to Fig. 4, follow the tracks of reliability evaluation section 52 and cut the image acquiring unit (not shown) of the prime of handling part 53, this view data is given tracking handling part 51, follows the tracks of reliability evaluation section 52 and cut handling part 53 with the time series order-assigned, carry out the processing of above-mentioned step S11 shown in Figure 5～S13 and S21～25.
Then, on display part 15, show that as moving image the output image row by the resolution conversion section 54 of time series arrangement by carrying out repeatedly that the circular treatment that is made of step S21～S25 obtains get final product.Also can show from what cut handling part 53 outputs at display part 15 and cut image as moving image.When realizing the image regeneration action, camera head 1 plays the effect of image-reproducing apparatus.
If carry out aforesaid image regeneration action, then can regenerate has the moving image of good composition for the object of taking pictures of paying close attention to, and is following the tracks of the object of taking pictures that reliability can avoid when low paying close attention to and be not included in the generation of the situation in the reproduced picture.
In addition, in the above-mentioned example, show image in display part 15 regeneration that are arranged at camera head 1, but the view data of wanting the image that shows also can be provided by the display unit (not shown) to the outside of camera head 1, cut image before or after display resolution improves on this outside display unit.In addition, also can be as required provide the view data that cut image of resolution before or after improving by internet etc. to the external equipment that utilizes this view data (server of operation website etc.).
In addition, more than put down in writing to carry out when taking to follow the tracks of and processed, cut and process and resolution is carried out when improving the method processed and image regeneration to follow the tracks of and processed, cuts and process and resolution improves the method for processing, but also these processing can be divided into 2 section processes, and when taking, carry out a section processes and carry out another section processes during at image regeneration.
Particularly, the distribution method of processing as described below is effective.At first, when taking, process by each that carry out step S11 shown in Figure 5～S13 and S21～S25, and make the processing that cuts handling part 53 execution in step S24 shown in Figure 4, cut the zone so that set in the whole zone of the two field picture that in step S21, obtains.But, do not carry out the actual processing that cuts this moment, and to the size (size) that cuts the zone that cuts handling part 53 output indicative of settings and the information that cuts of position, this is cut information and the view data that two field picture is listed as set up and be recorded in the recording medium 16 after related.When carrying out such record, can omit resolution conversion section 54 shown in Figure 4.In addition, the position that cuts the zone should be set in step S24 shown in Figure 5, and by cutting regional center C N BCoordinate figure regulation (also with reference to Figure 10).
The correlating method of setting up that cuts information and view data is arbitrarily.For example, the view data of two field picture can be kept in the body region of the image file that is recorded in recording medium 16, and will be kept at corresponding to the information that cuts of this view data the Title area of this image file.During based on the file format of Exif (Exchangeable image file format), Title area is also referred to as Exif label or Exif zone.The file format of image file also can be based on specification arbitrarily.
During image regeneration, image-reproducing apparatus (for example camera head 1) together reads successively two field picture and cuts information with the seasonal effect in time series order from recording medium 16, and cut image column according to the information that cuts from the two field picture column-generation, and show the image column that cuts that generates as motion picture reproducing.When this image-reproducing apparatus is provided with resolution conversion section 54 shown in Figure 4, also can be by the image column that cuts that generates according to the information that cuts be carried out above-mentioned resolution raising processing, thereby generate output images row (resolution after improving cut image column) by resolution conversion section 54, show this output image row as motion picture reproducing.
Special requirement are processed in the shooting high speed and electric power low consumption, as mentioned above, improve processing if when image regeneration, carry out actual processing and the resolution that cuts image, high speed and the electric power low consumption processed in the time of then can alleviating the load of the processing when taking and realize shooting.
Below, the 2nd execution mode of the present invention is described.The integral module of the camera head of the 2nd execution mode is identical with camera head shown in Figure 1, but for the camera head of distinguishing the 1st execution mode and the camera head of the 2nd execution mode, represents the camera head of the 2nd execution mode with symbol 1a.The internal structure of the image pickup part 11 of camera head 1a is identical with structure shown in Figure 2, and the stereoscopic figure of camera head 1a is identical with stereogram shown in Figure 3.And only otherwise produce contradiction, camera head 1a can realize the used function that the camera head 1 of the 1st execution mode is realized, and only otherwise produce contradiction, the item of putting down in writing in the 1st execution mode also is applicable to the 2nd execution mode.
With camera head 1 similarly, camera head 1a also has the object following function of taking pictures of utilizing image to process.But, in order to generate the image with composition accordingly good with following the tracks of reliability, (in other words variable the setting cut regional size in camera head 1, zoom ratio in the electronic zoom is set as variable mode), but in camera head 1a, visual angle (in other words, the zoom ratio of optical zoom) with variable setting image pickup part 11 replaces aforesaid way.
In Figure 15, represented in the camera head 1a particularly with the module map of the relevant parts of object following function of taking pictures.In Figure 15, be arranged in the master control part 13 of Fig. 1 by symbol 51,52,63 each parts that represents.The view data that forms each two field picture of two field picture row is assigned to successively follows the tracks of handling part 51 and follows the tracks of reliability evaluation section 52.The tracking handling part 51 that is arranged on camera head 1a with follow the tracks of reliability evaluation section 52 with identical at those parts described in the 1st execution mode.
The action of camera head 1a when illustrating that with reference to Figure 16 the object following function is taken pictures in realization.Figure 16 is the flow chart of flow process of the action of the camera head 1a of expression under the screening-mode.Under screening-mode, the object following function of taking pictures becomes when effective, follow the tracks of 51 pairs of handling parts successively the two field pictures of input carry out face detection and process.Master control part 13 is confirmed whether to have detected face (step S11) on the one hand from current two field picture, confirm that on the other hand the tracking of whether operating portion 17 having been carried out regulation begins indication operation (step S12), when detecting face and the tracking that operating portion 17 has carried out regulation being begun the indication operation, be transitioned into the processing of step S13 execution in step S13.
In step S13, follow the tracks of handling part 51 and set tracking target and follow the tracks of color with the view data of two field picture based on initial setting.This establishing method is with identical at the establishing method described in the 1st execution mode.Set after tracking target and the tracking color, repeatedly carry out the circular treatment that is consisted of by step S21～S23 and S34, but in this circular treatment, 51 pairs of handling parts of tracking have been set the tracking target two field picture row execution that obtains after tracking target and the tracking color and have been followed the tracks of processing.Follow the tracks of the method for processing with identical in the processing method described in the 1st execution mode.
Each of step S21～S23 processed with identical in those processing described in the 1st execution mode.Namely, in step S21, obtain current two field picture (tracking target two field picture), after step S22 in by follow the tracks of to process detecting position and the size of the tracking target in this current two field picture, and generate the tracking result information of the information that comprises the detected position of expression and size.Tracking result information outputs to follows the tracks of reliability evaluation section 52 and adjustment part, visual angle 63.Among the step S23 after step S22, follow the tracks of reliability evaluation section 52 by reliability evaluation of estimate EV RCalculating estimate the tracking reliability of current time.
In the 2nd execution mode, in step S23, estimate and follow the tracks of after the reliability, the processing of execution in step S34.In step S34, adjustment part, visual angle 63 is based on from the up-to-date tracking result information of following the tracks of handling part 51 outputs with by the visual angle of following the tracks of up-to-date tracking reliability that reliability evaluation section 52 estimates and adjust image pickup part 11.
The adjustment at visual angle realizes by the position of adjusting zoom lens shown in Figure 2 30.Zoom lens 30 can move at optical system shown in Figure 2 35 inward-bound light direction of principal axis.The position of the zoom lens 30 in the optical system 35 is called the zoom lens position.As shown in figure 17, along with a zoom lens position end leniently towards a narrow end, the visual angle of image pickup part 11 (shooting visual angle) reduces and the optical zoom multiplying power increases.A wide end and a narrow end represent the two ends of whole movings range of zoom lens 30.
Suppose to follow the tracks of beyond the reliability other condition (object distance etc. of taking pictures) all one regularly, in step S34, adjust the zoom lens position, make and follow the tracks of the reliability higher visual angle that becomes and become less.Its result follows the tracks of reliability and becomes higher, and the size of the tracking target on the two field picture (with the size in tracking target zone) will become large.
The two field picture 401,402,403 that Figure 18 (a), (b), (c) represent respectively to follow the tracks of that reliability maintains the 1st, the 2nd, obtain during the 3rd reliability.Suppose photographed frame image 401,402, at 403 o'clock, the object distance of taking pictures of tracking target is identical.The object distance of taking pictures of tracking target refer in the real space camera head 1a and as the distance between the personage of tracking target.
Dashed rectangle zone 411,412,413 is respectively the tracking target zone in two field picture 401,402,403 interior settings among Figure 18 (a), (b), (c).Suppose that the reliability of the 1st reliability is the highest in the 1st～the 3rd reliability, the reliability of the 3rd reliability is minimum.Because the similar color of the tracking color that tracking target has is positioned at around the tracking target, therefore low than the tracking reliability of two field picture 401 to the tracking reliability of two field picture 402 and 403.
The visual angle of the image pickup part 11 of the visual angle of the image pickup part 11 during photographed frame image 401 during than photographed frame image 402 is little, and the visual angle of the image pickup part 11 of the visual angle of the image pickup part 11 during photographed frame image 402 during than photographed frame image 403 is little.Therefore, in the size (picture size) in tracking target zone 411～413, the size in tracking target zone 411 is maximum, and the size in tracking target zone 413 is minimum.
As mentioned above, adjust the visual angle of image pickup part 11 according to following the tracks of become mode that the size (with the size in tracking target zone) of the tracking target on the higher two field picture increases of reliability.In the situation of the example shown in Figure 18 (a)～(c), adjust the visual angle based on tracking result information and tracking reliability, when making the tracking reliability be the 1st tracking reliability, the size of the tracking target on the two field picture (or the size in tracking target zone 411) becomes the 1st size, and when the tracking reliability is the 2nd tracking reliability, the size of the tracking target on the two field picture (or the size in tracking target zone 412) becomes the 2nd size, and when the tracking reliability was the 3rd tracking reliability, the size of the tracking target on the two field picture (or the size in tracking target zone 413) became the 3rd size.Here, in the 1st～the 3rd size, the 1st size is maximum, and the 3rd size is minimum.
Can determine how to adjust the visual angle by the size information of the tracking target that is included in tracking result information.For example, the tracking reliability of estimating in step S23 is that the size of the tracking target on the 1st reliability and the two field picture that obtains in step S21 is when being the 2nd size, the mode that becomes the 1st big or small mode according to the size that makes the tracking target on the two field picture that obtains after next time is adjusted the visual angle, and its adjustment amount is the part that is equivalent to the difference of the 1st size and the 2nd size.The visual angle adjustment amount that is equivalent to the 1st size and the difference of the 2nd size can be decided with reference to predefined look-up table etc. in adjustment part, visual angle 63.
In addition, be positioned at the end of shooting area in tracking target, and dwindle that the visual angle might cause tracking target part or all outside shooting area the time, forbid reducing of visual angle.
After the processing of step S34, get back to step S21, repeatedly carry out the circular treatment that is consisted of by above-mentioned step S21～S23 and S34.On display part 15, show the two field picture row by the time series arrangement that obtain by repeatedly carrying out of above-mentioned circular treatment as moving image, and with the Imagery Data Recording of these two field picture row to recording medium 16.As long as the view data in the recording medium 16 is read arbitrarily image-reproducing apparatus, just can regenerate in this image-reproducing apparatus shows the moving image that tracking target is had good composition.
As described in present embodiment, as long as adjust the visual angle according to following the tracks of reliability, just can obtain to have with respect to the object of taking pictures of paying close attention to the moving image of good composition, and follow the tracks of reliability when low, the object of taking pictures that can avoid paying close attention to is not included in the generation of the situation in the shooting area.
Below, the 3rd execution mode of the present invention is described.The integral module figure of the camera head of the 3rd execution mode is identical with camera head shown in Figure 1, but for the camera head of distinguishing the 1st execution mode and the camera head of the 3rd execution mode, represents the camera head of the 3rd execution mode with symbol 1b.The internal structure of the image pickup part 11 of camera head 1b is identical with structure shown in Figure 2, and the stereoscopic figure of camera head 1b is identical with stereogram shown in Figure 3.And only otherwise produce contradiction, camera head 1b can realize all functions that the camera head of the 1st or the 2nd execution mode is realized, and only otherwise produce contradiction, the item of putting down in writing in the 1st or the 2nd execution mode also is applicable to the 3rd execution mode.
Figure 19 has represented the part of module figure of the camera head 1b relevant with the characteristic action of the 3rd execution mode.Tracking handling part 51 shown in Figure 19, tracking reliability evaluation section 52 and evaluation region configuration part 73 are arranged in the master control part shown in Figure 1 13.The view data that forms each two field picture of two field picture row is assigned to successively follows the tracks of handling part 51 and follows the tracks of reliability evaluation section 52.The tracking handling part 51 that is arranged on camera head 1b with follow the tracks of reliability evaluation section 52 with identical at those parts described in the 1st execution mode.Be assigned to and follow the tracks of reliability evaluation section 52 and evaluation region configuration part 73 by following the tracks of tracking result information that handling part 51 generates, be assigned to evaluation region configuration part 73 by the evaluation result of following the tracks of the tracking reliability that reliability evaluation section 52 produces.
The camera head of the present invention that comprises camera head 1b can be carried out auto focus control based on view data (below, be called AF control) in screening-mode.
In AF control, calculate the AF evaluation of estimate based on the view data in the AF evaluation region of in two field picture, setting, and utilize so-called mountain-climbing to control the position of condenser lens shown in Figure 2 31 according to the mode that makes the AF evaluation of estimate get maximum (being maximum strictly speaking).Therefore, can under the state of the object of taking pictures in appearing at the AF evaluation region of focusing, carry out the shooting of two field picture row (that is, moving image).
Camera head 1b carry out to follow the tracks of processes and the position of AF evaluation region is set in the position of the tracking target on the two field picture as benchmark, and according to the size (picture size) of following the tracks of the variable setting of reliability AF evaluation region.About AF control, the below more specifically illustrates the method.
At first, the AF evaluation of estimate calculating part 80 that is used for deriving the AF evaluation of estimate is described.Figure 20 is the internal module figure of AF evaluation of estimate calculating part 80.AF evaluation of estimate calculating part 80 is arranged in the master control part shown in Figure 1 13.AF evaluation of estimate calculating part 80 as being looked like to process by arithmograph, such as the explanation of reference Fig. 7, by cutting apart in the horizontal direction the overall region of two field picture with vertical direction, is set two field picture (the individual fritter of M * N) in the overall region of two field picture.
AF evaluation of estimate calculating part 80 has extraction unit 81, HPF (high pass filter) 82, accumulative total section 83, calculates an AF evaluation of estimate by each two field picture.Be assigned the signal of video signal of two field picture in the extraction unit 81.Extraction unit 81 is extracted luminance signal from this signal of video signal.HPF82 only extracts the high fdrequency component of the regulation in the luminance signal of being extracted by extraction unit 81.For example, form HPF82 by the Laplace filter of the filter size with regulation, carry out this Laplace filter is acted on the space filtering of each pixel of two field picture.Thereby, obtain successively output valve with the corresponding filter characteristic of this Laplace filter from HPF82.Accumulative total section 83 accumulative totals are by the size (that is, the absolute value of the output valve of HPF82) of the high fdrequency component of HPF82 extraction.This accumulative total is carried out individually by each fritter, with the aggregate-value of the size of the high fdrequency component in a certain fritter modules A F value as this fritter.
On the other hand, the evaluation region configuration part 73 from Figure 19 provides the position of regulation AF evaluation region and the AF evaluation region information of size to AF evaluation of estimate calculating part 80.Accumulative total section 83 bases belong to according to the modules A F value of the fritter of the AF evaluation region of AF evaluation region information calculates the AF evaluation of estimate.When the fritter that belongs to the AF evaluation region is 1, the modules A F value of this fritter itself is exported as the AF evaluation of estimate, as shown in figure 21, when the fritter that belongs to the AF evaluation region is a plurality of, the mean value of the modules A F value of these a plurality of fritters is exported as the AF evaluation of estimate.
The establishing method that utilizes the AF evaluation region of following the tracks of the reliability evaluation result is described with reference to Figure 22.Figure 22 is the flow chart of flow process that is illustrated in the action of the camera head 1b under the screening-mode.Under screening-mode, the object following function of taking pictures becomes when effective, follow the tracks of 51 pairs of handling parts successively the two field pictures of input carry out face detection and process.Master control part 13 is confirmed whether to have detected face (step S11) from current two field picture on the one hand, confirm that on the other hand the tracking of whether operating portion 17 having been carried out regulation begins indication operation (step S12), when detecting face and the tracking that operating portion 17 has carried out regulation being begun the indication operation, be transitioned into the processing of step S13 execution in step S13.
In step S13, follow the tracks of handling part 51 and set tracking target and follow the tracks of color with the view data of two field picture based on initial setting.This establishing method is with identical at the establishing method described in the 1st execution mode.Set after tracking target and the tracking color, repeatedly carry out the circular treatment that is consisted of by step S21～S23 and S44, but in this circular treatment, 51 pairs of handling parts of tracking have been set the tracking target two field picture row execution that obtains after tracking target and the tracking color and have been followed the tracks of processing.Follow the tracks of the method for processing with identical in the processing method described in the 1st execution mode.
Each of step S21～S23 processed with identical in those processing described in the 1st execution mode.Namely, in step S21, obtain current two field picture (tracking target two field picture), after step S22 in by follow the tracks of to process detecting position and the size of the tracking target in this current two field picture, and generate the tracking result information of the information that comprises the detected position of expression and size.Tracking result information outputs to follows the tracks of reliability evaluation section 52 and evaluation region configuration part 73.Among the step S23 after step S22, follow the tracks of reliability evaluation section 52 by reliability evaluation of estimate EV RCalculating estimate the tracking reliability of current time.
In the 3rd execution mode, in step S23, estimated after the tracking reliability processing of execution in step S44.In step S44, evaluation region configuration part 73 is based on setting the AF evaluation region from the up-to-date tracking result information of tracking handling part 51 outputs with by the up-to-date tracking reliability of following the tracks of 52 evaluations of reliability evaluation section.This AF evaluation region to the current up-to-date two field picture that obtains or after the two field picture that obtains set.
The center of AF evaluation region is identical with the center in the tracking target zone of the up-to-date two field picture that obtains in step S21.On the other hand, make the tracking target district inclusion among the AF evaluation region based on the size of the tracking target of in tracking result information, stipulating, and according to the size of following the tracks of the variable setting of reliability AF evaluation region.With the establishing method of the size of following the tracks of the corresponding AF evaluation region of reliability with described in the 1st execution mode with to follow the tracks of the establishing method of size that reliability cuts the zone accordingly identical, also be applicable to present embodiment about the technology of the 1st execution mode of this establishing method.During applicable this establishing method, as long as cutting in the explanation of the 1st execution mode is regional instead of the AF evaluation region.That is, for example, the size one of the tracking target on two field picture is regularly set the size of AF evaluation region, makes along with following the tracks of reliability to uprise and the size decreases of AF evaluation region.In fact, according to the method for reference Figure 10 explanation, as long as basis is based on size and the tracking reliability (EV of the tracking target of tracking result information R), position and the size of setting the AF evaluation region get final product.
Comprise that the camera head of the present invention of camera head 1b is under screening-mode, also can carry out based on the control of the auto iris of view data (below, be called AE control) and Automatic white balance (whitebalance) control (below, be called AWB control), also can be suitable for the method for AF being controlled described variable setting evaluation region to AE control and AWB control.
In AE control, the length of the time for exposure the when f-number that will determine according to the aperture of aperture shown in Figure 2 32, the enlargement range that the signal among the AFE12 (with reference to Fig. 1) amplifies and two field picture are taken is processed as 3 AE control objects.And, calculate the AE evaluation of estimate by the view data in the AE evaluation region that is set in the two field picture, and in the two field picture row, make value that the AE evaluation of estimate remains on regulation maybe near this value by controlling more than 1 in 3 AE control objects, thereby the brightness (brightness degree) of the image in the AE evaluation region is remained in the brightness of expectation.
AE evaluation of estimate calculating part (not shown) in the camera head 1b is calculated 1 AE evaluation of estimate by each two field picture.The AE evaluation of estimate is the mean value that belongs to the brightness value of the pixel in the AE evaluation region.In addition, brightness value means the value of luminance signal, and brightness value is larger, and the brightness of pixel that then has this brightness value is just higher.
In AWB control, calculate the AWB evaluation of estimate according to the view data in the AWB evaluation region that is set in the two field picture, and adjust the white balance of two field picture integral body based on the AWB evaluation of estimate, make the interior white balance of AWB evaluation region become the white balance of expectation.AWB control, for example in the process of the view data of delta frame image, by multiply by more than 2 with the corresponding AWB coefficient of AWB evaluation of estimate in the output signal value of the output signal value of the output signal value of the red light receiving pixel of imaging apparatus 33, green light receiving pixel or blue light receiving pixel or these signal values realized.
AWB evaluation of estimate calculating part (not shown) in the camera head 1b is calculated 1 AWB evaluation of estimate by each two field picture.Imaging apparatus 33 shown in Figure 2 is one-board imaging apparatuss, and each light receiving pixel front of imaging apparatus 33 is arranged with colour filter.Only have in the colour filter the red colour filter of the red component that sees through light, only see through the green colour filter of the green component of light, only see through the blue colour filter of the blue component of light.The arrangement of colour filter for example is that pattra leaves (ベ イ ヤ one) is arranged.The light receiving pixel that the front is arranged with red colour filter, green colour filter, blue colour filter is called respectively red light receiving pixel, green light receiving pixel, blue light receiving pixel.Red light receiving pixel, green light receiving pixel, blue light receiving pixel respectively only with red component, green component, the blue component reaction of the incident light of optical system 35.
Because two field picture is represented by the output signal of each bearing member, image of imaging apparatus 33, therefore suppose on the shooting face of imaging apparatus 33, also to set the AWB evaluation region.The mean value of output signal value that AWB evaluation of estimate calculating part will belong to each red light receiving pixel of AWB evaluation region calculates as red evaluation of estimate, the mean value of output signal value that will belong to each green light receiving pixel of AWB evaluation region calculates as the Green Evaluation value, and the mean value of output signal value that will belong to each blue light receiving pixel of AWB evaluation region calculates as blue evaluation of estimate.The AWB evaluation of estimate is made of red evaluation of estimate, Green Evaluation value, blue evaluation of estimate.
In addition, the position that comprises condenser lens 31 in the camera control parameter that should adjust when carrying out AF control, and the length of the time for exposure the when enlargement range that the signal that comprises AFE12 in the camera control parameter that should adjust when carrying out AF control amplifies and/or photographed frame image, and comprise above-mentioned AWB coefficient in the camera control parameter that should adjust when carrying out AF control.In order to obtain to depend on the moving image of camera control parameter, according to the condition of obtaining of camera control parameter regulation moving image.Namely, when carrying out AF, AE or AWB control, based on the condition of obtaining of the view data controlled motion image in AF, AE or the AWB evaluation region (evaluation of estimate collecting zone), for example, this control is carried out by the condition of the obtaining control part (not shown) in the master control part 13.
In AE control or AWB control during the variable establishing method in applicating evaluating zone, in step S44 shown in Figure 22, evaluation region configuration part 73 is based on setting AE evaluation region or AWE evaluation region from the up-to-date tracking result information of tracking handling part 52 outputs with by the up-to-date tracking reliability of following the tracks of 52 evaluations of reliability evaluation section.This AE evaluation region or AWB evaluation region to the current up-to-date two field picture that obtains or after the two field picture that obtains set.
The center in the tracking target zone in the center of AE evaluation region or AWB evaluation region and the up-to-date two field picture that obtains in step S21 is identical.On the other hand, make the tracking target district inclusion among AE evaluation region or AWB evaluation region based on the size by the tracking target of tracking result information regulation, and according to the size of following the tracks of reliability variable setting AE evaluation region or AWB evaluation region.With identical at the establishing method that cuts regional size according to following the tracks of reliability described in the 1st execution mode, also be applicable to present embodiment about the technology of the 1st execution mode of the method according to the establishing method of the size of the AE evaluation region of following the tracks of reliability or AWB evaluation region.During applicable the method, as long as cutting in the explanation of the 1st execution mode is regional instead of AE evaluation region or AWB evaluation region.That is, for example, the size one of the tracking target on two field picture is regularly set the size of AE evaluation region or AWB evaluation region, makes along with following the tracks of reliability to uprise and the size decreases of AE evaluation region or AWB evaluation region.In fact, according to the method for reference Figure 10 explanation, as long as basis is based on size and the tracking reliability (EV of the tracking target of tracking result information R), position and the size of setting AE evaluation region or AWB evaluation region get final product.
After the processing of step S44, get back to step S21, repeatedly carry out the circular treatment that is consisted of by above-mentioned step S21～S23 and S44.On display part 15, show the two field picture row by the time series arrangement that obtain by repeatedly carrying out of this circular treatment as moving image, and with the Imagery Data Recording of these two field picture row to recording medium 16.
Follow the tracks of reliability when low, the possibility of error detection that the object that will be different from actual tracking target is used as tracking target is higher.Therefore, when the tracking reliability is low, if with the size of following the tracks of reliability and similarly set when higher little AF, AE, AWB evaluation region, then may focus with the fully irrelevant background of object of taking pictures of paying close attention to, and carried out the situation of image brightness adjustment or blank level adjustment.Consider these, in the present embodiment, according to following the tracks of the variable size of setting AF, AE, AWB evaluation region of reliability.Therefore, can avoid the generation of above-mentioned situation.
The below describes the 4th execution mode of the present invention.The integral module of the camera head of the 4th execution mode is identical with camera head shown in Figure 1, but for the camera head of distinguishing the 1st execution mode and the camera head of the 4th execution mode, represents the camera head of the 4th execution mode with symbol 1c.The internal structure of the image pickup part 11 of camera head 1c is identical with structure shown in Figure 2, and the stereoscopic figure of camera head 1c is identical with stereogram shown in Figure 3.And only otherwise produce contradiction, camera head 1c can realize all functions that the camera head of the 1st or the 2nd execution mode is realized, and only otherwise produce contradiction, the item of putting down in writing in the 1st or the 2nd execution mode also is applicable to the 4th execution mode.
Camera head 1c is when image regeneration, the similarly control of AE control that can carry out and in the 3rd execution mode, put down in writing (below, AE control when being called regeneration) and with the AWB control of in the 3rd execution mode, putting down in writing similarly control (below, be called AWB control when generating).Before the operation of this image regeneration, all Imagery Data Recordings that the two field picture by the time series arrangement of suppose to obtain when the taking moving image is listed as are in recording medium 16.The following action of present embodiment is the action of the camera head 1c under the regeneration mode.
Figure 23 has represented the part of module figure of the camera head 1c relevant with the characteristic action of the 4th execution mode.Each parts of symbol 51,52 shown in Figure 23,101～104 expressions are arranged in the master control part shown in Figure 1 13.Image acquiring unit 101 is read two field picture by the time sequence order successively from recording medium 16, the view data of each two field picture is assigned to by the time sequence order successively follows the tracks of handling part 51, follows the tracks of reliability evaluation section 52, evaluation of estimate calculating part 103, image processing department 104.The tracking handling part 51 that is arranged on camera head 1c with follow the tracks of reliability evaluation section 52 with identical at those parts described in the 1st execution mode.Be assigned to and follow the tracks of reliability evaluation section 52 and evaluation region configuration part 102 by following the tracks of tracking result information that handling part 51 generates, be assigned to evaluation region configuration part 102 by the evaluation result of following the tracks of the tracking reliability that reliability evaluation section 52 produces.
Tracking handling part 51 begins to indicate the moment of operation in the tracking of operating portion 17 having been carried out regulation, catch the two field picture that is assigned to self with two field picture as initial setting, sets tracking target and follows the tracks of color with the view data of two field picture based on this initial setting.Wherein, suppose that initial setting is with there being the personage who becomes tracking target in the two field picture.The establishing method of tracking target and tracking color is with identical in the method described in the 1st execution mode.
Set after tracking target and the tracking color, carry out the action according to flow process shown in Figure 24.The flow chart of the sequence of movement of AE control when Figure 24 is expression regeneration.
Set after tracking target and the tracking color, repeatedly carry out the circular treatment that is consisted of by step S21～S23 and S54～S56, but in this circular treatment, 51 pairs of handling parts of tracking have been set the tracking target two field picture row execution that obtains after tracking target and the tracking color and have been followed the tracks of processing.Follow the tracks of the method for processing with identical in the processing method described in the 1st execution mode.
Each of step S21～S23 processed with identical in those processing described in the 1st execution mode.Namely, in step S21, obtain current two field picture (tracking target two field picture), after step S22 in by follow the tracks of to process detecting position and the size of the tracking target in this current two field picture, and generate the tracking result information of the information that comprises the detected position of expression and size.Tracking result information outputs to follows the tracks of reliability evaluation section 52 and evaluation region configuration part 102.Among the step S23 after step S22, follow the tracks of reliability evaluation section 52 by reliability evaluation of estimate EV RCalculating estimate the tracking reliability of current time.
In the AE control, in step S23, estimate and follow the tracks of after the reliability, the processing of execution in step S54 during regeneration.In step S54, evaluation region configuration part 102 is based on setting the AE evaluation region from the up-to-date tracking result information of tracking handling part 51 outputs with by the up-to-date tracking reliability of following the tracks of 52 evaluations of reliability evaluation section.This AE evaluation region is set the up-to-date two field picture that obtains in step S21.
The center of AE evaluation region is identical with the center in the tracking target zone of the up-to-date two field picture that obtains in step S21.On the other hand, make the tracking target district inclusion among the AE evaluation region based on the size by the tracking target of tracking result information regulation, and according to the size of following the tracks of the variable setting of reliability AE evaluation region.With identical at the establishing method that cuts regional size according to following the tracks of reliability described in the 1st execution mode, also be applicable to present embodiment about the technology of the 1st execution mode of the method according to the establishing method of the size of the AE evaluation region of following the tracks of reliability.During applicable the method, as long as cutting in the explanation of the 1st execution mode is regional instead of the AE evaluation region.That is, for example, the size one of the tracking target on two field picture is regularly set the size of AE evaluation region, makes along with following the tracks of reliability to uprise and the size decreases of AE evaluation region.In fact, according to the method for reference Figure 10 explanation, as long as basis is based on size and the tracking reliability (EV of the tracking target of tracking result information R), position and the size of setting the AE evaluation region get final product.
Among the step S55 after step S54, on the two field picture that the AE evaluation region that evaluation of estimate calculating part 103 will be set is applicable to obtain, calculate AE evaluation of estimate for this two field picture based on the view data in the AE evaluation region of this two field picture in step S21 in step S54.The computational methods of AE evaluation of estimate are with identical in those computational methods described in the 3rd execution mode.
Then, in step S56, image processing department 104 generates the processing two field picture based on the two field picture that the AE evaluation of estimate processing of calculating obtains in step S21 in step S55.During regeneration in the AE control, will multiply each other according to the certain value of the AE evaluation of estimate brightness value with each pixel of the two field picture that obtains in step S21, the image that obtains by this operation is as the processing two field picture.The brightness (brightness degree) that therefore, will comprise the image in the AE evaluation region in tracking target zone remains in the brightness of expectation.
After the processing of step S56, get back to step S21, repeatedly carry out the circular treatment that is consisted of by above-mentioned step S21～S23 and S54～S56.On display part 15, show the two field picture row by the time series arrangement that obtain by repeatedly carrying out of this circular treatment as moving image.Also can will should process the Imagery Data Recording of two field picture row in recording medium 16.
Action when carrying out AE control when regeneration more than has been described, AWB control also realizes by each processing of execution in step S21～S23 and S54～S56 during regeneration.But, when carrying out AWB control during regeneration, above-mentioned AE evaluation region and AE evaluation of estimate are replaced by respectively AWB evaluation region and AWB evaluation of estimate.Calculate the AWB evaluation of estimate based on the view data in the AWB evaluation region of two field picture, and in step S56, based on AWB evaluation of estimate processing two field picture.In the AWB control, the look average of adjusting two field picture integral body based on the AWB evaluation of estimate when regeneration, makes the interior white balance of AWB evaluation region become the white balance of expectation.Two field picture behind the blank level adjustment is should be by the processing two field picture of image processing department 104 generations.
Follow the tracks of reliability when low, the possibility of error detection that the object that will be different from actual tracking target is used as tracking target is higher.Therefore, follow the tracks of reliability when low, if with the size of following the tracks of reliability and similarly set when higher little AE or AWB evaluation region, then may occur carrying out the situation of image brightness adjustment or blank level adjustment with the fully irrelevant background of object of taking pictures of paying close attention to.Consider these, in the present embodiment, according to the size of following the tracks of reliability variable setting AE or AWB evaluation region.Therefore, can avoid the generation of above-mentioned situation.
In addition, in the above-mentioned example, display part 15 regeneration in being arranged on camera head 1c have shown processing two field picture row, but the view data of wanting the image that shows also can be provided by the display unit (not shown) to the outside of camera head 1c, show processing two field picture row in this outside display unit.In addition, also can be as required provide the view data of processing two field picture row to the external equipment that utilizes this view data (server of operation website etc.) by internet etc.
The following describes the 5th execution mode of the present invention.In each above-mentioned execution mode, the tracking processing method of color-based information has been described, the tracking handling part 51 shown in Fig. 4 etc. can adopt other arbitrarily tracking processing method.With other the execution mode of tracking processing method of illustration as the 5th execution mode.Content described in the 5th execution mode will be implemented after will making up with the 1st～the 4th above-mentioned execution mode.
For example, follow the tracks of handling part 51 and can carry out the tracking of the position of the tracking target in the two field picture row by utilizing images match.It is well-known utilizing the tracking processing of images match, and simple declaration is based on moment t N-1Two field picture and t constantly nTwo field picture between the tracking of images match (template matches) process.In addition, suppose to detect constantly t N-1Two field picture on the position of tracking target.In addition, described in the 1st execution mode, taken moment t N-1Two field picture after take constantly t nTwo field picture (with reference to Figure 14).
Following the tracks of handling part 51 pays close attention to as moment t N-1The overall region of two field picture in a part and showed a part or the whole image-region of tracking target, the interior image of the image-region that will pay close attention on the one hand is as template image, on the other hand at moment t nTwo field picture in set to follow the tracks of frame.Then, the position of change following the tracks of successively frame in the hunting zone is carried out the image followed the tracks of in the frame and the similarity evaluation between the template image simultaneously, in the position of the tracking frame that obtains maximum similarity (in other words being minimum distinctiveness ratio), judges to have constantly t nTwo field picture on tracking target.With moment t N-1Two field picture in the position of tracking target be that benchmark is set corresponding to moment t nThe hunting zone of two field picture.Usually, this hunting zone is with moment t N-1Two field picture in the position of tracking target centered by the rectangular area, the size of hunting zone (picture size) is less than the size of the overall region of two field picture.
Follow the tracks of handling part 51 and utilize images match to follow the tracks of when processing, by the reliability evaluation of estimate EV that follows the tracks of 52 calculating of reliability evaluation section RComputational methods also different from the method described in the 1st execution mode.The reliability evaluation of estimate EV that uses in the tracking processing that has utilized images match is described RComputational methods.
Follow the tracks of reliability evaluation section 52 with each two field picture as being looked like to operate by arithmograph, utilization is in the method described in the 1st execution mode, by in by the arithmograph picture, setting a plurality of fritters and each fritter is categorized as take pictures object piece or background piece, the overall region of each two field picture is divided into tracking target zone and background area (with reference to Fig. 7).Then, with the fritter at above-mentioned template image place as fritter [m O, n O] operate, calculate constantly t of expression by each background piece nThe fritter [m of two field picture O, n O] interior image and moment t nThe background piece of two field picture in image between the distinctiveness ratio evaluation of estimate of distinctiveness ratio.
Suppose to have Q background piece, use respectively C DISA[1]～C DISAThe distinctiveness ratio evaluation of estimate that [Q] represents the 1st～the Q background piece is calculated (Q is the integer that satisfies inequality " 2≤Q≤(M * N)-1 ").For example, corresponding to moment t nThe distinctiveness ratio evaluation of estimate C of two field picture DISA[1], as being subordinated to constantly t nThe fritter [m of two field picture O, n O] each pixel pixel value (for example brightness value) with belong to constantly t nThe pixel value (for example brightness value) of each pixel of i background piece of two field picture between contrast in the SAD (Sum of Absolute Difference) or the SSD (Sum of SquareDifference) (i is natural number here) that try to achieve.Distinctiveness ratio evaluation of estimate C when therefore, the distinctiveness ratio between contrast images increases DISA[i] also can become large.In addition, normalization distinctiveness ratio evaluation of estimate makes distinctiveness ratio evaluation of estimate C DISAThe span of [i] is more than 0 below 1.Certainly, for the image-region of a certain concern, the pixel value (for example brightness value) that belongs to the pixel of this image-region is a kind of amount (image feature amount) that represents the Characteristic of Image in this image-region.
On the other hand, with fritter [m O, n O] the center operate as the described center 250 of reference Fig. 8, with the alternate position spike evaluation of estimate P that obtains in the same manner in the method described in the 1st execution mode corresponding to the 1st～the Q background piece DIS[1]～P DIS[Q].Then, by with distinctiveness ratio evaluation of estimate C DISA[i] is updated to C DISIn [i] and utilize above-mentioned formula (1), thereby calculate combined distance CP DIS, utilize this combined distance CP DIS, and to calculate for what pay close attention to according to above-mentioned formula (2) (be t constantly by the arithmograph picture in this embodiment nTwo field picture) reliability evaluation of estimate EV RCan recognize from these computational methods, when having the object that has with the similar apperance of tracking target apperance near the tracking target, reliability evaluation of estimate EV RWith step-down.
Follow the tracks of handling part 51 and do not utilize images match, but by utilizing optical flow also can carry out the tracking of the position of the tracking target in the two field picture row to information.Although utilizing optical flow to process to the tracking of information is known technology, simple declaration is at moment t N-1Two field picture and t constantly nTwo field picture between process to the tracking of information based on optical flow.Suppose constantly t N-1Two field picture on the position of tracking target be detected position.Figure 25 has represented constantly t N-1With moment t nTwo field picture 501 and the optical flow between 502 and two images to 503.The solid arrows of optical flow in 503 represent the motion vector corresponding to tracking target.
Follow the tracks of handling part 51 by contrast moment t N-1With moment t nTwo field picture obtain between contrast images optical flow to.Optical flow is to being motion vector bundle with the motion of the object on the image between vector performance contrast images, utilizes representative point matching method, pattern matching method, gradient method etc. and derives.Follow the tracks of the set that handling part 51 has roughly the same direction according to this motion vector beam search and has the motion vector of same size, and judge in the existence of the position of the set that has this motion vector and (that is, judge that this position is exactly moment t as the moving object of tracking target nTwo field picture on the position of tracking target).This search is finished in the hunting zone, for moment t nThe hunting zone of two field picture with moment t N-1The position of tracking target of two field picture be that benchmark is set.Usually, this hunting zone is with moment t N-1The position of tracking target of two field picture centered by the rectangular area, the size of hunting zone (picture size) is less than the size of the overall region of two field picture.The scope that also can exist based on the set of the motion vector that searches in addition, is set the tracking target zone.
Follow the tracks of handling part 51 and utilize optical flow to follow the tracks of when processing to information, by the reliability evaluation of estimate E V that follows the tracks of reliability evaluation section 52 and carry out RComputational methods also different from the method put down in writing in the 1st execution mode.Illustrate and utilized optical flow to the reliability evaluation of estimate EV that uses during the tracking of information is processed RComputational methods.
Follow the tracks of reliability evaluation section 52 with each two field picture as being looked like to process by arithmograph, and utilize the method for putting down in writing in the 1st execution mode in by the arithmograph picture, to set a plurality of fritters and by each fritter being categorized as take pictures object piece or background piece, be tracking target zone and background area (with reference to Fig. 7) with the overall region cutting of each two field picture.Now, will moment t N-1With moment t nTwo field picture between optical flow to being assumed to be corresponding to moment t nTwo field picture optical flow to.Then, will moment t nTwo field picture in the fritter at tracking target (center of tracking target) place as fritter [m O, n O] process, and calculate expression corresponding to moment t by each background piece nThe fritter [m of two field picture O, n O] in optical flow to, with corresponding to moment t nThe background piece of two field picture in optical flow between the motion distinctiveness ratio evaluation of estimate of distinctiveness ratio.
Suppose to exist Q background piece, use respectively C DISB[1]～C DISB[Q] represents the motion distinctiveness ratio evaluation of estimate that corresponding the 1st～the Q background piece calculates (Q is the integer that satisfies inequality " 2≤Q≤(M * N)-1 ").Will be corresponding to moment t nThe fritter [m of two field picture O, n O] in optical flow to corresponding to moment t nThe i background piece of two field picture in optical flow to, be called the 1st and the 2nd optical flow to.Then, for example, based on form the 1st optical flow to the direction of motion vector and size with form the 2nd optical flow to the direction of motion vector and the comparing result of size, according to the direction of contrast more different just more increase and the sizes of contrast more different just more the modes of increase calculate corresponding to moment t nThe motion distinctiveness ratio evaluation of estimate C of two field picture DISB[i] (here, i is natural number).At this moment, normalization campaign distinctiveness ratio evaluation of estimate makes motion distinctiveness ratio evaluation of estimate C DISBThe span of [i] is more than 0 below 1.About the image-region of a certain concern, can with optical flow that this image-region is derived to capture as image in this image-region of expression, about the amount (image feature amount) of motion characteristics.
On the other hand, with fritter [m O, n O] the center process as the center 250 of reference Fig. 8 record, with the method for in the 1st execution mode, putting down in writing similarly, obtain the alternate position spike evaluation of estimate P with respect to the 1st～the Q background piece DIS[1]～P DIS[Q].Then, by with motion distinctiveness ratio evaluation of estimate C DISB[i] substitution C DIS[i] also utilizes above-mentioned formula (1) to calculate combined distance CP DIS, utilize this combined distance CP DISAnd to be calculated corresponding to what pay close attention to by above-mentioned formula (2) (in current example, be t constantly by the arithmograph picture nTwo field picture) reliability evaluation of estimate E V RCan recognize from these computational methods, when having the object that moves like the motion class that has with tracking target near the tracking target, reliability evaluation of estimate EV RWith step-down.
Below, the 6th execution mode of the present invention is described.In the 6th execution mode, the further variation of the deriving method of following the tracks of reliability is described, i.e. reliability evaluation of estimate EV RThe further variation of computational methods.The content of putting down in writing in the 6th execution mode will be implemented with each above-mentioned execution mode combination.
Below, as reliability evaluation of estimate EV RComputational methods illustration the 1st～the 10th computational methods.Tracking reliability evaluation section 52 shown in Fig. 4 etc. can utilize any of the 1st～the 10th computational methods to calculate for (that is, being calculated reliability evaluation of estimate EV by the arithmograph picture RThe tracking target two field picture) reliability evaluation of estimate EV R
In addition, in the 1st execution mode, make reliability evaluation of estimate EV RGot the value below 100 more than 0, but in the 6th execution mode, made reliability evaluation of estimate EV RGet the value below 1 more than 0, make the tracking reliability more be evaluated as height, then reliability evaluation of estimate EV RMore close to higher limit 1.Therefore, when each computational methods of the 6th execution mode are applicable to each above-mentioned execution mode, as long as the reliability evaluation of estimate EV that will be calculated by each computational methods of the 6th execution mode RAmplifying 100 times gets final product.
[the 1st computational methods]
The 1st computational methods are described.Having put down in writing tracking as described below in the 1st execution mode processes.After following the tracks of color settings, as setting search scope in by the tracking target two field picture of arithmograph picture with follow the tracks of frame, carry out simultaneously the color of the image in the tracking frame and the similarity evaluation between the tracking color by in the hunting zone, changing successively the position of following the tracks of frame, thereby detect the position of the tracking target on the tracking target two field picture.Position to the tracking target in the former tracking target two field picture in the hunting zone of current tracking target two field picture is that benchmark is set.
In such tracking is processed, the size of the tracking target on the tracking target two field picture hour, the stability of tracking can reduce.For example, has the object (object that is different from tracking target) of the color that is similar in color with tracking when entering in the hunting zone, even this object is smaller, if the size of tracking target hour, also can improve flase drop and measure the possibility that this object is tracking target.On the contrary, when the size of tracking target is larger, no matter whether there is this object, all can reduces the possibility that produces error detection.
Consider such situation, in the 1st computational methods, based on calculated reliability evaluation of estimate EV by the size of the tracking target on the arithmograph picture RParticularly, by calculating with following formula (6-1) corresponding to by the reliability evaluation of estimate EV of arithmograph picture R
EV R＝TgtSize/AreaSize????…(6-1)
Here, TgtSize is the numerical value of the size of the image-region that the view data that has tracking target is judged in expression in by the arithmograph picture, and AreaSize is that expression is by the numerical value of the size of the above-mentioned hunting zone of arithmograph picture.
Can represent big or small TgtSize by enough pixel counts.Particularly, for example, the sum of the pixel of the view data of expression tracking target in the pixel that belongs in the above-mentioned hunting zone can be updated among the TgtSize.Described in the 1st execution mode, can will be categorized as the tracking target zone of the view data that represents tracking target and the background area of the view data of expression background by the image-region of arithmograph picture based on tracking result information, the sum that belongs to the image in this tracking target zone can be updated among the TgtSize.When representing TgtSize with pixel count, AreaSize is set as the sum of the pixel that belongs to above-mentioned hunting zone.
Perhaps, also can be with the cartographic represenation of area on image size TgtSize.That is, in following the tracks of processing, the profile of tracking target can be approximately fairly simple shape (for example, ellipse or rectangle), also can be by the cartographic represenation of area TgtSize in the profile that is similar to the tracking target that obtains by this.Particularly, for example, can will be updated among the TgtSize by the area in the tracking target zone on the arithmograph picture.The profile in tracking target zone is rectangle in the 1st execution mode, but this profile also can be other shape beyond the rectangle.During with cartographic represenation of area TgtSize, AreaSize is set as by the area of the hunting zone on the arithmograph picture.
[the 2nd computational methods]
The 2nd computational methods are described.In the 2nd computational methods, will be based on calculated reliability evaluation of estimate EV by the position of the tracking target on the arithmograph picture RParticularly, calculate for by the reliability evaluation of estimate EV of arithmograph picture according to following formula (6-2) RWherein, when the value on formula (6-2) the right becomes negative value, set EV RBe zero.
EV R＝1-(TDist/StdDist)????…(6-2)
As described in Figure 26, TDist is the center 601 of tracking target and by the distance between the center 602 of arithmograph picture (that is, position 601 and 602 s' the locus by on the arithmograph picture is poor), StdDist is predefined reference range.The center 601 of tracking target, for example, be based on for by the tracking result information of arithmograph picture in the position at the center 250 described in the 1st execution mode (with reference to Fig. 8).
Usually the user operates camera head according near the concern that should the become tracking target mode that object is configured in the central authorities of image of taking pictures.Therefore, can suspect reliability for the tracking results that in the image end, detects tracking target.In addition, tracking target is when the image end, and tracking target is easy to run out of the shooting area outer (easily causing so-called super screen) of camera head.At this moment, thus importantly reduce from the angle that tracking is kept and to follow the tracks of reliability and make and take the visual angle and be positioned at augment direction.Consider these, in the 2nd computational methods, the position of judging tracking target more more increases reliability evaluation of estimate EV close to the center of image R, reduce reliability evaluation of estimate EV when opposite R
[the 3rd computational methods]
The 3rd computational methods are described.In the 3rd computational methods, will be between different tracking target two field pictures calculate reliability evaluation of estimate EV based on the size of the motion vector of tracking target RParticularly, calculate for by the reliability evaluation of estimate EV of arithmograph picture according to following formula (6-3) RWherein, when the value on formula (6-3) the right becomes negative value, set EV RBe zero.
EV R＝1-(|Vt|/|Vstd|)????…(6-3)
Vt represents as by the 1st tracking target two field picture of arithmograph picture and than the motion vector of the tracking target between the 2nd tracking target two field picture of the more Zao shooting of the 1st tracking target two field picture, | Vt| represents the size of this motion vector Vt.Vstd is predefined base vector, | Vstd| represents the size of base vector Vstd.
Motion vector Vt is the vector (that is, motion vector Vt is with the motion vector of the 2nd tracking target two field picture as benchmark image) of the position of the tracking target on the 1st tracking target two field picture seen of the position of the tracking target of expression from the 2nd tracking target two field picture.The position of the tracking target on the 1st and the 2nd tracking target two field picture refers to respectively, for example, and based on the position (with reference to Fig. 8) for the center 250 on the 1st and the 2nd tracking target two field picture of the tracking result information of the 1st and the 2nd tracking target two field picture.In addition, the 2nd tracking target two field picture is to do sth. in advance the two field picture (n is the integer more than 1) that the n frame period takes here, than the 1st tracking target two field picture.In addition, also can will regard the 2nd tracking target two field picture as than each of a plurality of two field pictures of the more Zao shooting of the 1st tracking target two field picture, and on average the using as Vt of the motion vector of the tracking target between each and the 1st tracking target two field picture that will these a plurality of two field pictures.
When obtaining the position tracking results jumpy of tracking target in during as the evaluation of the shooting interval of the 1st and the 2nd tracking target two field picture, the reliability of this tracking results falls under suspicion.In addition, when the motion of tracking target was fast, tracking target is super screen easily, and also can have the situation of easily losing tracking target in the processing of following the tracks of.Consider these, in the 3rd computational methods, calculate reliability evaluation of estimate EV based on the size of the motion vector of tracking target R
[the 4th computational methods]
The 4th computational methods are described.In the 4th computational methods, calculate reliability evaluation of estimate EV based on motion vector Vt and the base vector Vstd angulation θ of the tracking target of in the 3rd computational methods, putting down in writing RBut, motion vector Vt in the 4th computational methods represents, as by the 1st tracking target two field picture of arithmograph picture and than the 1st tracking target two field picture motion vector of the tracking target between the tracking target two field picture taken of 1 frame period in advance, the base vector Vstd in the 4th computational methods represents the motion vector of the tracking target that obtains before this.
With reference to Figure 27 remark additionally motion vector Vt in the 4th computational methods and the meaning of base vector Vstd.Access successively constantly t when now, supposing whenever to flow through time in 1 frame period N-4, t N-3, t N-2, t N-1, t n, will be at moment t N-iThe tracking target two field picture of middle acquisition is called constantly t N-iThe tracking target two field picture or only be called constantly t N-iTwo field picture.In addition, with V[i as shown in figure 27, i-1] expression will moment t N-iTwo field picture as benchmark, t constantly N-iAnd t N-(i-1)Two field picture between the motion vector of tracking target.
Under such prerequisite, if should calculate reliability evaluation of estimate EV RTo be looked like by arithmograph be t nTwo field picture, then the motion vector Vt in the 4th computational methods is vector V [1,0], and the base vector Vstd in the 4th computational methods is vector V [2,1].Perhaps, base vector Vstd also can be to vector V [2,1] and one or more motion vectors of the tracking target of more early calculating than vector V [2,1] mean vector (for example, V[2,1] and V[3,2] mean vector).
Utilize aforesaid vector V t and Vstd and calculate for by the reliability evaluation of estimate EV of arithmograph picture according to following formula (6-4) R
EV R＝(1+cosθ)/2????…(6-4)
＝(1+(Vt·Vstd)/(|Vt|×|Vstd|))/2
The direction of the nearest motion of the tracking target on the direction indication image of motion vector Vt, the direction of the motion in the past of the tracking target on the direction indication image of base vector Vstd.When tracking target was moved at moving image, many times its direction of motion was certain haply, changed rapid tracking results for the direction of motion and can suspect reliability.Consider these, in the 4th computational methods, above-mentioned angle θ makes reliability evaluation of estimate EV when larger RLess, above-mentioned angle θ hour makes reliability evaluation of estimate EV RLarger.
[the 5th computational methods]
The 5th computational methods are described.The 5th computational methods are methods of combination the 3rd and the 4th computational methods.Particularly, in the 5th computational methods, calculate for by the reliability evaluation of estimate EV of arithmograph picture according to following formula (6-5) RHere, EV R4The EV that expression should be calculated according to above-mentioned formula (6-3) R, EV R5The EV that expression should be calculated according to above-mentioned formula (6-4) R
EV R＝EV R4×EV R5????…(6-5)
[the 6th computational methods]
The 6th computational methods are described.In the 6th computational methods, calculate reliability evaluation of estimate EV based on the interframe of the characteristic quantity that obtains from the pixel that is categorized as tracking target relevant (in other words, based on the characteristic quantity of the tracking target variable quantity in interframe) RParticularly, calculate for by the reliability evaluation of estimate EV of arithmograph picture according to following formula (6-6) RWherein, when the value on the right of formula (6-6) becomes negative value, set EV RBe zero.
EV R＝1-(|VAL(n)-VAL(n-1)|)/VALbase????…(6-6)
Here, VAL (n) is for n tracking target two field picture (that is, moment t shown in Figure 27 nTwo field picture) characteristic quantity, VAL (n-1) is for (n-1) individual tracking target two field picture (that is, moment t shown in Figure 27 N-1Two field picture) characteristic quantity, VALbase is predefined reference characteristic amount.
As mentioned above, based on tracking result information, the overall region of each tracking target two field picture is categorized as the tracking target zone of the view data that represents tracking target and the background area of the view data of expression background, the characteristic quantity of setting the tracking target zone of i tracking target two field picture is VAL (i) (here, i is n or (n-1)).
Characteristic quantity VAL (i) also can be with follow the tracks of to process in be used for the characteristic quantity of characteristic quantity one species of the identification of tracking target.Namely, particularly, for example, when carrying out the tracking of body region of tracking target such as the color-based information of putting down in writing in the 1st execution mode, obtain the color (hereinafter referred to as the i feature) of the body region of i tracking target two field picture based on the view data of the body region in i the tracking target two field picture.Can derive the method for tracking look with the view data of two field picture based on initial setting with what in the 1st execution mode, put down in writing, utilize and derive in the method for i feature in the view data based on i tracking target two field picture.And, with the position of the i feature on the color space (for example, RGB or the HSV color space) as VAL (i).At this moment, formula (6-6) | VAL (n)-VAL (n-1) | be the distance between the position of the position of the n feature on the color space and (n-1) feature.
Characteristic quantity VAL (i) also can be the characteristic quantity different from the characteristic quantity of the identification that is used for tracking target in following the tracks of processing.Namely, particularly, for example, when carrying out the tracking of body region of tracking target such as the color-based information of putting down in writing in the 1st execution mode, obtain the brightness degree (hereinafter referred to as the i brightness degree) of the body region of i tracking target two field picture based on the view data of the body region of i tracking target two field picture.Can will belong to the mean flow rate of each pixel of body region of i tracking target two field picture as the i brightness degree.And, the i brightness degree is got final product as VAL (i).At this moment, formula (6-6) | VAL (n)-VAL (n-1) | become expression n and (n-1) luminance difference of the tracking target (body region) between individual tracking target two field picture.
In addition, also average the or weighted average for the characteristic quantity of a plurality of tracking target two field pictures that obtained before n tracking target two field picture can be updated among the VAL (n-1) of formula (6-6).That is, for example, also can be with for (n-1) with (n-2) among the VAL (n-1) of the formula that on average is updated to (6-6) of the characteristic quantity of individual tracking target two field picture.
When obtaining the characteristic quantity tracking results jumpy of tracking target, the reliability of this tracking results is unreliable.Consider these, in the 6th computational methods, calculate reliability evaluation of estimate EV based on the variable quantity of characteristic quantity of the characteristics of image of expression tracking target R
[the 7th computational methods]
The 7th computational methods are described.In the 1st execution mode, put down in writing following technology.
Set and follow the tracks of after the color, as setting search scope in by the tracking target two field picture of arithmograph picture with follow the tracks of frame, similarity evaluation between the color of image that follow the tracks of in the frame position by change following the tracks of successively frame in the hunting zone and carrying out and the tracking color, thus can detect the position of the tracking target on the tracking target two field picture.
By being decomposed into a plurality of fritters (with reference to Fig. 7) and each fritter is categorized as in take pictures object piece and the background piece any by the overall region of arithmograph picture, can make by the overall region of arithmograph picture to be categorized as the tracking target zone in the object piece group's that takes pictures synthetic zone and the background area in piece group's synthetic zone as a setting.
Can be with the distinctiveness ratio between tracking color and the i background piece color as aberration evaluation of estimate C DIS[i] obtains.Aberration evaluation of estimate C DIS[i] gets the value below 1 more than 0.
In the 7th computational methods, utilize this aberration evaluation of estimate C DIS[i] is by calculating with following formula (6-7) for by the reliability evaluation of estimate EV of arithmograph picture R
EV R = ( &Sigma; i = 1 R C DIS ( i ) ) &times; ( 1 - ColArea ) . . . ( 6 - 7 )
The ∑ on formula (6-7) the right means the accumulation of aberration evaluation of estimate of each background piece of the neighboring area that is belonged to tracking target in the arithmograph picture.Neighboring area by the tracking target in the arithmograph picture refers to, for example, from to this by the above-mentioned hunting zone of computing image setting with except the tracking target zone and remaining image-region, perhaps from being a bit larger tham or being slightly smaller than the image-region of this hunting zone except the tracking target zone and remaining image-region, perhaps from by the overall region of arithmograph picture with except the tracking target zone and remaining image-region.Now, suppose that the 1st～the R background piece belongs to the neighboring area of tracking target (R is the integer more than 2).Then, the EV that is calculated by formula (6-7) RThe aberration evaluation of estimate C that calculates with respect to the 1st～the R background piece DIS[1]～C DISThe summation of [R] and product (1-ColArea).
ColArea represents and follows the tracks of background piece that color has identical or similar color shared ratio in the neighboring area.For example, aberration evaluation of estimate C DIS[i] judges that the color that i background piece has is and the same or similar color of tracking color when the threshold value of regulation is following, otherwise, judge the non-tracking color that is similar to of color that i background piece has.Suppose R=100, and in the 1st～the 100th background piece, judge when only having the 1st～the 40th background piece to have with the same or similar color of tracking color, ColArea is 40%.
If the color of the neighboring area of tracking target differs greatly with following the tracks of color, then the tracking of color-based information is stable, if this color and tracking color similarity, then the tracking of color-based information is unsettled.In addition, there is the Similar color of more tracking colors in the periphery of tracking target, then can become more unstable.The 7th computational methods provide the reliability evaluation corresponding to these.
[the 8th computational methods]
The 8th computational methods are described.In the 8th computational methods, will calculate reliability evaluation of estimate EV based on the brightness of the periphery of tracking target RFor example, as shown in figure 28, when brightness is extremely low or extremely high in the neighboring area of tracking target, reduce reliability evaluation of estimate EV R
In concrete example shown in Figure 28, compare the peripheral brightness degree Lsrd of tracking target and the reference level L of regulation TH1～L TH4, inequality " Lsrd＜L TH1" or " L TH4≤ Lsrd " setting EV when setting up RBe 0, inequality " L TH1≤ Lsrd＜L TH2" when setting up along with Lsrd from L TH1To L TH2Increase make EV RIncrease to 1, inequality " L from 0 TH2≤ Lsrd＜L TH3" setting EV when setting up RBe 1, inequality " L TH3≤ Lsrd＜L TH4" when setting up along with Lsrd from L TH3To L TH4Increase make EV RReduce to 0 from 1.Here, reference level L TH1～L TH4Satisfy inequality " 0＜L TH1＜L TH2＜L TH3＜L TH4".
Periphery brightness degree Lsrd represents by the mean flow rate of the neighboring area of the tracking target in the arithmograph picture (that is the mean value of brightness value that, belongs to the pixel of this neighboring area).The meaning of the neighboring area of tracking target with in the explanation of the 7th computational methods, put down in writing identical.Also the neighboring area of tracking target can be regarded as all or part of of the AE evaluation region in the 3rd execution mode, put down in writing, calculate peripheral brightness degree based on the AE evaluation of estimate (with reference to the 3rd execution mode) of the brightness degree of expression AE evaluation region.
In the tracking of color-based information is processed, when brightness is extremely low or extremely high in the neighboring area (for example, when so-called black patch or hickie are arranged), because the delicate variation of light source can make color and luster play great changes, therefore be difficult to carry out stable tracking.The 8th computational methods provide the reliability evaluation of corresponding these situations.
[the 9th computational methods]
The 9th computational methods are described.When utilizing the 9th computational methods, infer the colour temperature (also can carry out this in following the tracks of reliability evaluation section 52 parts in addition infers) of the light source of tracking target two field picture based on the view data of tracking target two field picture by each tracking target two field picture in the tracking reliability evaluation section 52 shown in Fig. 4 etc.
Presuming method as colour temperature can utilize known arbitrarily presuming method.For example, with fritter [m is set in by the arithmograph picture, n] similarly (with reference to Fig. 7), in the tracking target two field picture of paying close attention to, set a plurality of fritters, and be color saturation higher object color or color saturation lower light source color based on the view data of fritter with the color classification of this fritter by each fritter.The fritter that will have the color that is classified as light source color is called the light source color module., and the average of the colour temperature of inferring with respect to each light source color module can be inferred as the colour temperature to the tracking target two field picture paid close attention to based on R, the G of light source color module, the colour temperature that the B signal is inferred light source by each light source color module.In Figure 29 illustration the distribution of the colour temperature of inferring by each tracking target two field picture.
In the 9th computational methods, utilize this to infer colour temperature, by calculating with following formula (6-9) for by the reliability evaluation of estimate EV of arithmograph picture RWherein, when the value on formula (6-9) the right becomes negative value, set EV RBe zero.
EV R＝1-(CTi-CTstd)????…(6-9)
Here, CTi is that CTstd is predefined benchmark variance for the variance of inferring colour temperature at a plurality of tracking target two field pictures that more early obtained by the arithmograph picture.
The colour temperature of the light source during the large then expression of variance CTi shooting tracking target two field picture often changes.In the tracking of color-based information was processed, the colour temperature of light source changed the greatly then stable tracking of very difficult execution.The 9th computational methods provide the reliability evaluation of corresponding these situations.
[the 10th computational methods]
The 10th computational methods are described.In the 10th computational methods, calculate reliability evaluation of estimate EV based on the size that is included in the noise in the tracking target two field picture RParticularly, by calculating with following formula (6-10A)～(6-10C) with respect to by the reliability evaluation of estimate EV of arithmograph picture RWherein, when the value on the right of formula (6-10B) became negative value, setting NRtgt was zero, and when the value on the right of formula (6-10C) became negative value, setting NRsrd was zero.
EV R＝NRtgt×NRsrd??????????…(6-10A)
NRtgt＝1-(σtgt/σbase)????…(6-10B)
NRsrd＝1-(σsrd/σbase)????…(6-10C)
Be included in by the par in the tracking target zone of arithmograph picture and be called the 1st par, be included in by the par in the neighboring area of the tracking target of arithmograph picture and be called the 2nd par.The meaning of the neighboring area of tracking target is identical with the meaning of putting down in writing in the explanation of the 7th computational methods.σ tgt is the standard deviation of the brightness value of each pixel in the 1st par, and σ srd is the standard deviation of the brightness value of each pixel in the 2nd par, and σ base is predefined base standard deviation.
The positive square root of σ tgt self or σ tgt represents to be included in the size of the noise in the image in the 1st par or the signal to noise ratio (σ srd too) of the image in the 1st par.Therefore, be included in the size of noise of tracking target zone and/or neighboring area when larger, the minimizing by σ tgt and/or σ srd can reduce reliability evaluation of estimate EV R
The 1st par can be set as following mode.In by the tracking target zone of arithmograph picture, set the evaluation piece with specified image size, make the position of estimating piece in the tracking target zone, move 1 pixel to level or vertical direction at every turn, and when each the movement, obtain the standard deviation of the brightness value of estimating each pixel in the piece.Thereby obtain a plurality of standard deviations.The position of the evaluation piece that the standard deviation of the minimum in specific and these a plurality of standard deviations is corresponding, and on this position, set image-region in the evaluation piece that is configured as the 1st par.The establishing method of the 2nd par is also identical.When setting the 2nd par, piece is estimated in configuration in the neighboring area of tracking target.
Be included in the size of noise in tracking target zone and/or the neighboring area and can destroy the stability of tracking when large.The 10th computational methods provide the reliability evaluation of corresponding these situations.
As reliability evaluation of estimate EV RComputational methods the 1st～the 10th computational methods have been described individually, also can calculate reliability evaluation of estimate EV by the method that has made up 2 above computational methods in the 1st～the 10th computational methods RIn addition, in the 1st～the 10th above-mentioned computational methods, illustrated and whenever calculated with respect to 1 by the reliability evaluation of estimate EV of arithmograph picture RShi Liyong n AOpen the method (n of tracking target two field picture AThe integer more than 1), but in the 1st～the 10th computational methods, only otherwise produce contradiction, also can utilize n during calculating BOpen tracking target two field picture (n BThe integer more than 1, n A≠ n B).
For example, in the explanation of the 1st above-mentioned computational methods, each calculating for conduct by the moment t of arithmograph picture nThe reliability evaluation of estimate EV of two field picture RThe time, only utilized constantly t nThe view data of two field picture, but in this calculatings, also can utilize moment t nWith moment t N-1The view data of two field picture.That is, more specifically, for example, also can pass through constantly t nThe big or small TgtSize and t constantly of tracking target of two field picture N-1The TgtSize that on average is updated to above-mentioned formula (6-1) of big or small TgtSize of tracking target of two field picture in, thereby calculate for moment t nThe reliability evaluation of estimate EV of two field picture R
(distortion etc.)
The content of putting down in writing in the 1st～the 6th execution mode only otherwise producing contradiction then can mutually make up and implement.In addition, the concrete numerical value shown in the above-mentioned explanation only is illustration, obviously these numerical value can be changed into various numerical value.As variation or the note item of above-mentioned execution mode, below put down in writing note 1～note 5.The content of putting down in writing in each note only then can combination in any otherwise produce contradiction.
In each above-mentioned execution mode, illustration the situation of tracking target when being the personage, but tracking target can not be the personage also.For example, also can be with the vehicle such as automobile or mobile robot as tracking target.
In each above-mentioned execution mode, frame considered as unit and the two field picture row have been carried out comprising that face detection processes or follow the tracks of the various processing of processing, but also the field can be considered as unit and the area image row are carried out those processing.
Also the index of expression by the tracking reliability of following the tracks of 52 evaluations of reliability evaluation section can be presented on the display part 15.The moving image of this index on should being presented at display part 15 is presented on the display part 15.
The camera head of each execution mode can be realized by the combination of hardware or hardware and software.Particularly each parts shown in Fig. 4, Figure 15, Figure 19, Figure 23 can be realized by the combination of hardware, software or hardware and software.When utilizing software to consist of camera head, become the functional block diagram of these parts of expression about the module map of each parts of being realized by software.In addition, also can be by all or part of of the computing record and narrate to need carried out as program, and in this program of program executing apparatus (for example computer) execution, thus realize all or part of of this computing.
When motion picture reproducing, comprise the device of the parts shown in the symbol 51～54 of Fig. 4 and comprise that the device shown in the symbol 51,52 and 101～104 of Figure 23 works as image-reproducing apparatus respectively.Also can be used as and comprise other parts (display part 15 etc.) that form camera head in this image-reproducing apparatus.The external equipment (not shown) of the camera head of record data that also can be by can reading in recording medium 16 is realized this image-reproducing apparatus.
1. camera head is characterized in that having:
Imaging apparatus, it is by taking successively the signal of exporting expression photographic images row;
Follow the tracks of handling part, its output signal based on described imaging apparatus detects the position of the tracking target that described photographic images lists successively, follows the tracks of described tracking target thereby list at described photographic images;
Cut handling part, it is set in described photographic images based on detected described position by each photographic images and cuts the zone, and extracts the described interior image in zone that cuts as cutting the described position in zone and the information that cuts of size of cutting of image or output expression; With
Tracking evaluation section, it is according to the output signal of described imaging apparatus, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness;
The described handling part that cuts is according to the described degree of estimating out, and the mode that reduces according to the described size that cuts the zone is uprised along with described degree changes the described size that cuts the zone.
2. camera head according to claim 1 is characterized in that:
The described handling part that cuts makes described degree be evaluated as size that described when higher cut the zone to be evaluated as described when relatively lower than described degree to cut the size in zone less.
3. camera head according to claim 1 is characterized in that:
The described handling part that cuts is set the described size that cuts the zone based on the size of the described tracking target on the described degree of estimating and the photographic images.
4. camera head according to claim 1 is characterized in that:
The photographic images conduct of the described photographic images row of described tracking evaluation section's acceptance formation is by the arithmograph picture, described overall region by the arithmograph picture is divided into tracking target zone and the background area in addition, described tracking target zone that described tracking target occurs, and according to the characteristics of image of the characteristics of image in described tracking target zone and described background area to recently estimating described degree.
5. camera head is characterized in that having:
The adjustment part, visual angle, it adjusts the visual angle in taking; With
Adjustment part, described visual angle is according to the described degree of estimating out, changes described visual angle according to the described degree mode that higher described visual angle becomes less that becomes.
6. camera head according to claim 5 is characterized in that:
Adjustment part, described visual angle is large and be evaluated as the less mode of size that makes the described tracking target on the photographic images when low in described degree according to be evaluated as the size that makes the described tracking target on the photographic images when higher in described degree, adjusts described visual angle according to described degree.
7. camera head according to claim 6 is characterized in that:
Described visual angle is set based on the size of the described tracking target on the described degree of estimating and the photographic images in adjustment part, described visual angle.
8. camera head according to claim 5 is characterized in that:
9. image-reproducing apparatus is characterized in that having:
Image acquiring unit, it reads by photographic subjects being taken successively the picture signal that obtains from record section, thereby obtains the input picture row based on described picture signal;
Follow the tracks of handling part, its picture signal based on described input picture row detects the position of the tracking target that described input picture lists successively, follows the tracks of described tracking target thereby list at described input picture;
Cut handling part, it is set in described input picture based on detected described position by each input picture and cuts the zone, and extracts the described interior image in zone that cuts as cutting image; With
Tracking evaluation section, it is according to the image information of described input picture row, and evaluation is based on the reliability of the tracking of described tracking handling part or the degree of easiness;
This image-reproducing apparatus will cut the picture signal of image column to display part or outside output,
10. camera head is characterized in that having:
Region setting part, it sets the evaluation of estimate collecting zone based on detected described position in each photographic images;
Obtain the condition control part, it controls the condition of obtaining of described photographic images row based on the picture signal in the described evaluation of estimate collecting zone of each photographic images; With
Described region setting part is according to the described degree of estimating out, uprises along with described degree and the mode that reduces changes the size of described evaluation of estimate collecting zone according to the size that makes described evaluation of estimate collecting zone.
11. an image-reproducing apparatus is characterized in that having:
Region setting part, it sets the evaluation of estimate collecting zone based on detected described position in each input picture;
The output image generating unit, it generates based on the picture signal in the described evaluation of estimate collecting zone of each input picture the output image that described input picture is listed as after processing is listed as; With
This image-reproducing apparatus is exported the picture signal of described output image row to display part or outside,
CN 200910202859 2008-05-26 2009-05-26 Image pick up device and image reproduction device CN101605209B (en)
JP2008-136986 2008-05-26
JP2008136986 2008-05-26
JP2009-093571 2009-04-08
JP2009093571A JP2010011441A (en) 2008-05-26 2009-04-08 Imaging apparatus and image playback device
CN101605209A CN101605209A (en) 2009-12-16
CN101605209B true CN101605209B (en) 2013-05-01
ID=41470742
CN 200910202859 CN101605209B (en) 2008-05-26 2009-05-26 Image pick up device and image reproduction device
US (1) US20100033579A1 (en)
JP (1) JP2010011441A (en)
CN (1) CN101605209B (en)
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2009-04-08 JP JP2009093571A patent/JP2010011441A/en active Pending
2009-05-26 US US12/471,859 patent/US20100033579A1/en not_active Abandoned
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JP特开2006-19852A 2006.01.19
JP特开平6-217187A 1994.08.05
JP2010011441A (en) 2010-01-14
US20100033579A1 (en) 2010-02-11
CN101605209A (en) 2009-12-16
JP3934151B2 (en) 2007-06-20 Image generating apparatus and image generating method
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2015-07-15 CF01 Termination of patent right due to non-payment of annual fee
Termination date: 20140526