JP2001145090A - Monitoring device - Google Patents

Abstract

(57) [Problem] In a conventional monitoring device, since image information of one photographing means is captured and displayed, a target object is shaded by a line, a pattern, a cloud or the like painted on the ground. There was a problem of misrecognition. SOLUTION: In a monitoring device for monitoring an object present in a monitoring area, two photographing means 1-1 and 1-2 for photographing a specific monitoring area from different viewpoints, and a video output from the photographing means. The target object extraction means 2-1 and 2-2 for extracting the target object from the information, and the parallax calculation of the target object is performed based on the target object extraction information extracted by the respective target object extraction means, and the three-dimensional target object is determined. Stereoscopic processing means 3-1
And a position determining unit 4-1 for determining a coordinate position on the map of the stereoscopic target determined by the stereoscopic processing unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring apparatus for monitoring an object located in a monitoring area, for example, an aircraft, a vehicle, etc. on an airport surface, and used for purposes such as airplane takeoff and landing control.

[0002]

2. Description of the Related Art FIG. 6 is a system block diagram of a conventional monitoring apparatus disclosed in, for example, JP-A-6-233302. In the figure, 1-1, 1-2,... 1-n
Is, for example, n photographing means such as a camera including a camera lens and a camera base, 102 is switching means for switching video signals from the n photographing means, 103 is screen dividing means,
5 is a synthesis means, 105 is a control means, 106 is an operation means,
Reference numeral 104 denotes a control screen display generation unit, and reference numeral 6 denotes a display unit.

Next, the operation will be described. First, operating means 1
.. 1-n are operated and controlled through the control means 105 on the basis of the contents operated at 06. Photographing means 1 whose position is controlled 1
A plurality of video signals from 1, 1-2,... 1-n are input to the switching unit 102. Next, one of the plurality of video signals from the switching unit 102 is output to the screen dividing unit 103 based on the content of the screen control set by the operation unit 106. In the synthesizing unit 5, the video signal that has undergone the screen division processing in the screen division unit 103 and the control screen generation unit 10
The control unit 4 combines the control screen display signal including the character information generated in step 4 with the control screen display signal, and outputs the synthesized signal to the display unit 6 as a screen control state video signal.

[0004]

The conventional monitoring apparatus is configured as described above, and selects one of the video signals of a plurality of photographing means, and converts the selected video signal and character information and the like. This is a method of displaying on one screen by combining. By the way, airport surveillance involves multiple aircraft,
For the purpose of monitoring vehicles and the like, it is necessary to minimize erroneous targets.

[0005] The conventional monitoring apparatus captures and displays the image information of one photographing means, and thus has a problem that a line, a pattern, a shadow such as a cloud painted on the ground is erroneously recognized as a target. there were. In addition, it is necessary to manually detect and determine a moving target only by displaying captured video information, and there is a problem that a monitoring error is likely to occur.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and two stereoscopic images are arranged at different viewing angles, and a three-dimensional image based on the image information from the two stereoscopic images is provided. In addition to improving false target detection,
The automatic detection and tracking of a target can be performed based on the target detection result, thereby supporting the control of aircraft, vehicles, and the like on the airport.

[0007]

A monitoring device according to the present invention monitors an object existing in a monitoring area.
Two photographing means for photographing a specific monitoring area from different viewpoints, a target extracting means for extracting a target from video information output from each photographing means, and a target extracting means for extracting each target. Stereoscopic processing means for performing parallax calculation of a target based on the extracted target object information and determining a stereoscopic target, and position determining means for determining a coordinate position on a map of the stereoscopic target determined by the stereoscopic processing means It is provided with.

[0008] Further, in an apparatus for monitoring an object present in a monitoring area, two imaging means in which a specific monitoring area is imaged from different viewpoints by 撮 影 each other, and two overlapping imaging areas. A target extraction means for extracting a target from the video information in, a parallax calculation of the target from the target extraction information extracted by the respective target extraction means, a stereoscopic processing means for determining a stereo target, And a position determining means for determining a coordinate position on the map of the stereoscopic target determined by the stereoscopic processing means.

[0009] Further, there is provided a display means for judging a three-dimensional target and displaying the target as a result of judging the coordinate position.

Further, by automatically outputting the target detection result to the display means, automatic detection and tracking of the target can be performed.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a system block diagram of a monitoring device according to Embodiment 1 of the present invention. In the figure, 1-1, 1-2, 1-3, and 1-4 denote photographing means such as a camera, and 1-1 and 1-2 form a pair to define one photographing area as 1-3 and 1 -4 is a pair for monitoring an adjacent photographing area. Although only four photographing means are shown in the figure, more photographing means may be provided as necessary. 2-1, 2-2, 2-3,
Reference numeral 2-4 denotes a video signal from each photographing means, and target extraction means 3-1 and 3-2 extract only a video image of a target object such as an aircraft for each video signal. Stereoscopic vision processing means for performing a stereoscopic vision process, calculating the difference between the target objects, and detecting the target object; 5 is a synthesizing means for synthesizing the target determined by the position determining means, 6
Is a display means for displaying the target from the synthesizing means 5.

A monitoring device that monitors an airport surface using a two-dimensional image by a camera or the like falsely recognizes a target that is not an actual target as a target due to a color change of the ground due to a shadow of a cloud or rain. May be lost. In a control system for controlling takeoff and landing of an aircraft, it is necessary to minimize such erroneous targets.

Therefore, the operation of the monitoring device according to the present embodiment for solving the above problem will be described. FIG. 2 is a diagram illustrating a method of determining a three-dimensional target and a target drawn on a plane such as a cloud or paint by a stereoscopic method. When the target O is a three-dimensional object, the photographing unit 1 (1-1)
The viewpoint of the target O viewed from is projected on the position of the point A on the video information. In addition, the viewpoint of the target viewed from the photographing unit 2 (1-2) is projected to the point B. When the image information obtained by these two photographing means is superimposed on the same screen,
The parallax α is detected. By detecting the parallax, it is possible to determine that the target O is a stereoscopic target.

Next, FIG. 3 verifies the above operation when the target is a shadow such as a cloud or a paint image. The viewpoint of the target O ′ as seen from the photographing means 1 is the same as the viewpoint as seen from the photographing means 2 as shown in the figure. Therefore, no parallax occurs between the two. Thereby, this target can be determined to be the false target O '.

Next, the operation of the first embodiment of the present invention will be described in more detail with reference to FIGS. As shown in FIG. 2, by arranging the photographing means 1-1 and the photographing means 1-2, it is possible to obtain image information in which the same display range is viewed from different viewpoints. This image information is obtained by removing image objects, such as buildings and lawns, which are not apparently target objects, by target object extracting means 2-1 and 2-2, respectively, and extracting video information from which only target object candidates have been extracted. Output to -1.

The stereoscopic processing means 3-1 detects a difference of a candidate target from the video information from the target extracting means 2-1 and 2-2, and a parallax is generated in the candidate target. The target detection information is output to the position judging means 4-1 as a real target only for the object. The position determining means 4-1 calculates the target position on the actual coordinates by superimposing the target detection information on the preset actual coordinate information. The calculated actual coordinates of the target are output to the synthesizing means 5. The synthesizing unit 5 includes photographing units 1-1 and 1-2.
The real coordinates of the target obtained from the image information photographed in step 1 and the real coordinates of the target obtained from the same image information photographed by the photographing means 1-3 and 1-4 are combined into one coordinate and output to the display means 6. I do. The display means 6 periodically inputs the position information of the target sequentially as described above, and performs marker display of the target on the plane map of the airport.

Since the apparatus of the present invention shown in the first embodiment is configured as described above, the number of erroneous targets can be minimized by performing stereoscopic video processing.

Further, by adopting a method of periodically updating the position information of the target, the position of the target such as an aircraft is accurately displayed, and the target is accurately tracked when it moves. Can be displayed.

Embodiment 2 In the first embodiment, 2
Although the same monitoring area is monitored by one imaging means, it is necessary to arrange a plurality of imaging means in order to monitor the entire airport surface. In the second embodiment, almost the same function is realized by the minimum number of photographing units by monitoring half of the monitoring area by each photographing unit with adjacent photographing units.
It monitors the entire area of the airport.

FIG. 4 is a system block diagram of the monitoring device according to the second embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 1 indicate corresponding parts. In the system of FIG. 4, the basic configuration is the same as that of FIG. 1, but the photographing means 1-2 and the target extracting means 2-2 are shared, and the photographing means 1-1 and 1-2 are used.
Are paired, and the photographing units 1-2 and 1-3 are paired, so that the video information of the target extracting unit 2-2 is used as an input to both the stereoscopic processing units 3-1 and 3-2. . Accordingly, three photographing means and two devices below the stereoscopic processing means are used.
The same operation as in the first embodiment is performed by using the first embodiment.

FIG. 5 is a diagram for explaining the operation of the second embodiment of the present invention. In this figure, when the actual target O moves from the area 3 to the area 1, the respective areas are sequentially moved and photographed. Will be done. At this time, it is possible to perform a three-dimensional target detection using parallax in a region where the photographing ranges of the photographing units overlap, as in the first embodiment. In addition,
When the target object O passes through an area where the shooting areas do not overlap, tracking is performed by adopting single image data by predictive tracking.

Since the apparatus according to the second embodiment of the present invention is configured as described above, it is possible to realize almost the same functions as in the first embodiment with a minimum number of photographing means.

[0023]

As described above, according to the present invention, in a monitoring apparatus for monitoring a moving object and a stationary object existing in a monitoring area, two photographing means for photographing a specific monitoring area from different viewpoints are provided. A target object extracting means for extracting a target object from the video information output from the photographing means; and a parallax calculation of the target object based on the target object extracting information extracted by the respective target object extracting means. And a position determining means for determining a coordinate position on the map of the stereoscopic target determined by the stereoscopic processing means, so that it is possible to improve erroneous target detection based on a stereoscopic video. This has the effect of preventing control mistakes.

Also, by periodically outputting the target detection result to the display means, the target can be automatically detected and tracked, and the entire monitoring area can be efficiently monitored on the display screen. .

Further, by shifting the monitoring area of the photographing means by half, there is an effect that the number of photographing means and the circuit configuration can be simplified.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a monitoring device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a method of determining a stereoscopic target according to the first embodiment.

FIG. 3 is a diagram illustrating a method of determining a fake target according to the first embodiment.

FIG. 4 is a block diagram illustrating a monitoring device according to a second embodiment of the present invention.

FIG. 5 is a diagram illustrating the operation of the second embodiment.

FIG. 6 is a block diagram showing a conventional monitoring device.

[Explanation of symbols]

1-1, 1-2, 1-3, 1-4 Photographing means, 2-1;
2-2, 2-3, 2-4 Target extraction means, 3-1, 3
-2 stereoscopic processing means, 4-1 and 4-2 position determination means, 5 combining means, 6 display means, α parallax, O target.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04N 5/225 H04N 5/225 C // H04N 13/00 13/00 F term (Reference) 5C022 AA01 AB61 AB63 AC01 AC69 5C054 CC00 CE12 FC01 FC12 FC15 FE13 HA26 HA31 5C061 AB04 AB08 AB17 BB03 BB13 CC01 5H180 AA01 AA26 CC04 DD01 FF03 FF22 FF32

Claims (4)

[Claims] 1. A monitoring apparatus for monitoring an object existing in a monitoring area, comprising: two photographing means for photographing a specific monitoring area from different viewpoints; and a target object based on video information output from each of the photographing means. And a stereoscopic processing means for calculating parallax of the target based on the target extraction information extracted by the respective target extracting means, and determining a stereoscopic target. A monitoring device comprising: a position determination unit that determines a coordinate position of a determined three-dimensional target on a map. 2. A monitoring apparatus for monitoring an object existing in a monitoring area, wherein two capturing means for overlapping a capturing area for capturing a specific monitoring area from different viewpoints by １ ／ each, A target extracting means for extracting a target from the video information in the region, and a stereoscopic processing means for calculating a parallax of the target from the target extracting information extracted by the respective target extracting means and determining a stereoscopic target; And a position determining means for determining a coordinate position on the map of the stereoscopic target determined by the stereoscopic processing means. 3. The monitoring apparatus according to claim 1, further comprising display means for determining a three-dimensional target and displaying the target as a result of determining the coordinate position. 4. The apparatus according to claim 1, wherein a result of the target detection is periodically output to the display means to enable automatic detection and tracking of the target. Monitoring device.