JP2019168886A - Detection body region detecting device, imaging device, flying device, detection body region detecting method, imaging method and program - Google Patents

Abstract

To properly detect not only a detection body group including a plurality of detection bodies but also a non-detection body contained in a plurality of picked-up images.SOLUTION: A detection body region detecting device 500A includes: obtaining means for obtaining a motion vector contained in a plurality of picked-up images; and detecting means for distinguishably detecting at least a partial region of a detection body group and at least a partial region of a non-detection body on the basis of the motion vector of the entire detection body group containing a plurality of detection bodies subjected to detection and obtained by the obtaining means and of the motion vector of the non-detection body not subjected to the detection.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a technique for detecting a detection body region.

  At present, a technique for detecting the amount of movement of the face area of a detection body group including a plurality of detection bodies is known (see, for example, Patent Literature).

International Publication WO2011 / 129030

  However, the technique of Patent Literature 1 is a technique for detecting only a detection body group including a plurality of detection bodies included in a plurality of captured images, and only detects a detection body group including a plurality of detection bodies. However, there was a problem that it was insufficient.

  The present invention has been made in view of such a problem, and can detect not only a detection body group including a plurality of detection bodies but also a non-detection body included in a plurality of captured images. The purpose is to provide technology.

In order to achieve the above object, an aspect of the detection object region detection apparatus according to the present invention is as follows:
Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Comprising
It is characterized by that.

In order to achieve the above object, an aspect of the imaging apparatus according to the present invention is:
An imaging means for imaging a plurality of images;
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging;
Comprising
It is characterized by that.

In order to achieve the above object, an aspect of the flying device according to the present invention is:
An imaging means for imaging a plurality of images;
An acquisition unit that acquires movement vectors included in a plurality of images captured by the imaging unit; an entire movement vector of a subject group that includes a plurality of subjects that are imaging targets acquired by the acquisition unit; and an imaging target Detection means for distinguishing and detecting at least one region of the subject group and at least one region of the non-subject based on a non-subject movement vector that is not
Propulsion means for flying the device in the air;
Flight control means for controlling the flight of the device based on at least a part of the subject group and at least a part of the non-subject;
Comprising
It is characterized by that.

In order to achieve the above object, an aspect of the detection region detection method according to the present invention is:
An acquisition step of acquiring a movement vector included in a plurality of captured images;
Based on the entire movement vector of the detection body group including the plurality of detection bodies that are detection targets acquired in the acquisition step, and the movement vector of the non-detection body that is not the detection target, at least of the detection body groups A detection step of distinguishing and detecting one part region and at least one part region of the non-detection body;
including,
It is characterized by that.

In order to achieve the above object, an aspect of the imaging method according to the present invention is as follows:
A first imaging step of imaging a plurality of images;
An acquisition step of acquiring movement vectors included in a plurality of images imaged in the first imaging step;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target, acquired in the acquisition step, an area of at least a part of the subject group And a detection step of distinguishing and detecting at least a part of the non-subject area;
The imaging region determined based on at least one region of the subject group detected in the detection step is set as an imaging target, and second imaging is performed so that at least one region of the non-subject does not cover the imaging region. Imaging process;
including,
It is characterized by that.

In order to achieve the above object, an aspect of the program according to the present invention is as follows:
The computer of the detection object region detection device,
Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Function as
It is characterized by that.

In order to achieve the above object, an aspect of the program according to the present invention is as follows:
A computer of an imaging apparatus provided with imaging means for imaging a plurality of images,
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging,
Function as
It is characterized by that.

  According to the present invention, it is possible to appropriately detect not only a detection body group including a plurality of detection bodies but also a non-detection body included in a plurality of captured images.

FIG. 1A is an external view of a flying device according to an embodiment to which the present invention is applied. FIG. 1A is an external view of the flying device with a motor frame closed, and FIG. It is a figure which shows the external appearance of the flying apparatus of the state. It is a figure which shows an example of the system configuration | structure of a flying device. It is a block diagram which shows schematic structure of the camera system to which the detection body area | region detection apparatus and imaging device of this invention are applied. 4A to 4D are explanatory diagrams of various processes performed by the imaging control unit. It is explanatory drawing which shows the state which the area | region of a non-subject has overlapped and shielded the imaging area. It is explanatory drawing which shows the state which is operating the body so that an angle of view may move to either the front, back, left, or right. FIG. 7A is an explanatory diagram showing a state in which the left end portion of the imaging region is close to a predetermined distance range with respect to the left end portion of the angle of view, and FIG. It is explanatory drawing which shows the state which moved the angle of view to the direction which approaches. FIG. 8A is an explanatory diagram showing a state in which the imaging region is located at the center of the angle of view, and FIG. 8B is an explanatory diagram showing a state in which the imaging region is enlarged to near the angle of view. . It is a flowchart which shows the area | region detection process for detecting an imaging area in imaging control. It is a flowchart which shows the whole imaging control performed from the start of flight to the end of flight. It is a block diagram which shows schematic structure of the imaging device to which the detection body area | region detection apparatus and imaging device of this invention are applied.

[First Embodiment]
Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.

[Flying device]
FIG. 1 is a diagram showing an appearance of a flying device 100 according to an embodiment to which the present invention is applied. Specifically, FIG. 1A is a diagram illustrating an appearance of the flying device 100 in a state where the motor frame 102 is closed, and FIG. 1B is a diagram of the flying device 100 in a state where the motor frame 102 is opened. It is a figure which shows an external appearance.

  As shown in FIGS. 1A and 1B, the flying device 100 includes a main frame 101 and four motor frames 102 to form a body.

  The motor frames 102 are attached to the main frame 101 via hinges 103, respectively. The motor frame 102 is configured to support the motor 105, and a rotor blade 104 as a rotor is fixed to the motor shaft of the motor 105. A finger guard 102 a is provided on the outer periphery of the motor frame 102. The four sets of motors 105, the four sets of rotor blades 104, and the four sets of motor drivers 404 (described later) constitute propulsion means.

  At the center of the main frame 101, a camera unit (imaging means) 106 is attached. In the camera unit 106, the optical axis of the imaging optical system is horizontal with the flying device 100 placed on a horizontal plane. In addition, various control devices to be described later with reference to FIG.

  The hinge 103 is in a “closed state” suitable for throwing up the flying device 100 as shown in FIG. 1A, and an “open” suitable for flying in the flying device 100 as shown in FIG. The motor frame 102 can be freely rotated in an angle range of 0 degrees to 90 degrees so that the motor frames 102 can be deformed to the "state".

FIG. 2 is a diagram illustrating an example of a system configuration of the flying device 100.
As shown in FIG. 2, the controller (control device) 401 includes a camera system 402 including the camera unit 106 (see FIG. 1), for example, for acquiring the distance (altitude) between the flying device 100 and the reference plane. An ultrasonic sensor (distance sensor) 403a, an atmospheric pressure sensor (altitude sensor) 403b for acquiring the absolute altitude (altitude above sea level) of the flying device 100, a flight sensor 403 including an acceleration sensor 403c, etc., from # 1 to # 4, respectively A motor sensor 404 for driving each motor 105 (see FIG. 1) # 1 to # 4 and a power sensor 405 for supplying power to each motor driver 404 while monitoring the voltage of the battery 406 are connected.
Although not particularly illustrated, the power of the battery 406 is also supplied to the control units 401 to 405. The controller 401 acquires information related to the altitude of the flying device 100 from the flight sensor 403 in real time.
Also, the controller 401 transmits a power instruction signal based on a duty ratio based on pulse width modulation to each of the motor drivers 404 from # 1 to # 4 while monitoring the voltage of the battery 406 via the power sensor 405. . Thereby, the motor drivers 404 from # 1 to # 4 control the rotational speeds of the motors 105 from # 1 to # 4, respectively.

Next, the operation until the flight start of the flying device 100 will be described.
The flying device 100 has each motor frame 102 in a “closed state” suitable for throwing up (see FIG. 1A), an “opened state” suitable for flying (see FIG. 1B), It is possible to hold the two shapes. Then, the user can throw the flying device 100 into the air like a ball in the “closed state”, and then the flying device 100 is controlled by the controller 401 shown in FIG. It changes to "open state", and it is in a flight state where it flies at a predetermined target altitude (for example, a height position of 2 m from the ground (reference plane) (altitude separated from the reference plane by a first distance)). Thus, imaging by the camera unit 106 can be performed. In other words, the controller 401 has four sets of motors 105 and four sets of rotor blades 104 so that the apparatus can fly at a height position of 2 m from the ground (reference plane) (altitude separated from the reference plane by a first distance). And four sets of motor drivers 404 are controlled.

[Camera system]
FIG. 3 is a block diagram illustrating a schematic configuration of a camera system 402 to which the detection object region detection device and the imaging device of the present invention are applied.
As shown in FIG. 3, the camera system 402 includes a central control unit 1, a memory 2, a camera unit 106, an imaging control unit 4, an image data generation unit 5, a storage unit 6, and an image recording unit 7. The beacon receiver 3 is provided.
The central control unit 1, the memory 2, the camera unit 106, the imaging control unit 4, the image data generation unit 5, the storage unit 6, the image recording unit 7 and the beacon receiver 3 are connected via a bus line 10. . The controller 401 of the above-described flying device 100 is also connected to the above configuration via the bus line 10.

  The central control unit (control means) 1 executes various controls and processes related to imaging of the camera system 402. Specifically, although not shown, the central control unit 1 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and various processing programs for the camera system 402 (not shown). Various control operations and processes are performed according to (omitted).

  The memory 2 is composed of, for example, a DRAM (Dynamic Random Access Memory) or the like, and temporarily stores data processed by each unit such as the central control unit 1 and the imaging control unit 4.

  The camera unit 106 images a subject. Specifically, the camera unit 106 includes a lens unit 106a and an electronic imaging unit 106b.

The lens unit 106a includes a plurality of lenses such as a lens and a focus lens, for example.
The electronic imaging unit 106b includes, for example, an image sensor such as a complementary metal oxide semiconductor (CMOS) or a charge coupled device (CCD), and converts an optical image that has passed through various lenses of the lens unit 106a into a two-dimensional image signal. .
Although illustration is omitted, the camera unit 106 may include a diaphragm for adjusting the amount of light passing through the lens unit 106a. A zoom mechanism using the lens unit 106a may be provided.

The image data generation unit 5 appropriately adjusts the gain for each of the RGB color components with respect to the analog value signal of the frame image transferred from the camera unit 106, and then performs sample holding by a sample hold circuit (not shown) to perform A / After converting to digital data by a D converter (not shown) and performing color process processing including pixel interpolation processing and γ correction processing by a color process circuit (not shown), the digital luminance signal and color difference signal (YUV data) ) Is generated.
Further, the image data generation unit 5 transfers the generated image data to the memory 2 or the image recording unit 7 used as a buffer memory.

  The storage unit 6 is a readable / writable nonvolatile memory, such as a flash memory or an EEPROM (Electrically Erasable and Programmable Read Only Memory). The storage unit 6 stores a face image data file 61 of a specific subject, which will be described later, and an acquisition unit 41, a determination unit 42, a detection unit 43, a flight control unit 44, and a grant unit 45, which will be described later. A program 62 or the like for functioning as is stored.

The image recording unit 7 is configured by, for example, a nonvolatile memory (flash memory). The image recording unit 7 records image data of various images encoded by a coding unit (not shown) of the image data generation unit 5 using a predetermined coding method.
In the present embodiment, the image recording unit 7 records, for example, captured image data when an imaging region described later is captured.

  Note that the image recording unit 7 may be configured such that, for example, a recording medium (not shown) is detachable, and data reading from the mounted recording medium and data writing to the recording medium are controlled.

[Imaging control unit]
The imaging control unit 4 controls imaging of the subject by the camera unit 106.
Although not shown, the imaging control unit 4 includes a timing generator, a driver, and the like. During the flight of the flying device 100, the imaging control unit 4 scans and drives the electronic imaging unit 106b with a timing generator and a driver, and converts the optical image into a two-dimensional image signal with the electronic imaging unit 106b at predetermined intervals. Then, the frame image is read for each screen from the imaging region of the electronic imaging unit 106b and is output to the image data generation unit 5.

  That is, the imaging control unit 4 continuously captures images with a predetermined frame period during the flight of the flying device 100 and stores the image data of these captured images in the memory 2. The image data stored in the memory 2 is work image data.

  In addition, the imaging control unit 4 performs adjustment control of conditions when imaging a subject, such as AF (automatic focusing process), AE (automatic exposure process), and AWB (automatic white balance adjustment process).

In the present embodiment, the imaging control unit 4 includes an acquisition unit 41, a determination unit 42, a detection unit 43, a flight control unit 44, and a grant unit 45.
The imaging control unit 4 is a computer that executes the program 62 of the storage unit 6 and functions as the units 41 to 45.
Each of the means 41 to 45 may be constituted by a predetermined logic circuit, for example.

[Imaging control unit: acquisition means]
FIG. 4A to FIG. 4D are explanatory diagrams of various processes performed by the imaging control unit 4.
The acquisition unit 41 includes a whole subject group (detected body group) including a plurality of subjects (detected bodies) that are imaging targets from among a plurality of moving bodies included in images of a plurality of work image data. Processing for acquiring a movement vector and a movement vector of a non-subject (non-detected body) that is not an imaging target is performed.
For this reason, the acquisition unit 41 detects a person from an image of a plurality of continuous image data for work, acquires a movement vector of the detected person, extracts a subject and a subject group, and acquires a movement vector of the entire subject group. Each process is executed.

The person detection is executed for each of two images of image data for work that are continuous in time series.
The acquisition unit 41 includes, for example, a pattern recognition discriminator in which parameters for human detection are determined, and performs human detection using the discriminator. Alternatively, the acquisition unit 41 may perform face detection and perform person detection by recognizing a whole body image connected to the detected face as a person.

  The movement vector of the person is acquired by obtaining the position change of the same person in the images of the two work image data. That is, by comparing the positions of the persons in the two work image data, the position change direction and the position change amount of the person can be obtained, and the movement vector of the person can be obtained from these.

FIG. 4A to FIG. 4C are images of three image data for work that are consecutive in time series. As shown in the figure, the range of the image and the range of the angle of view G match.
For example, when the movement vector of each person is obtained from the images of the two working image data before and after FIG. 4 (b) and FIG. 4 (c), as shown in FIG. The first person from the top obtains the rightward movement vector B1, and the second person from the top in the angle of view G obtains the leftward movement vector B2. Further, no position change is made for any other person, and a 0 (zero) vector (not shown) is acquired.

The extraction of the subject and the subject group is first performed by extracting a specific subject.
The specific subject is a subject that is the core of a predetermined subject group, and is the subject to be imaged most.
The extraction of the specific subject is performed by face authentication using the face image data file 61 when the face image data file 61 is prepared in the storage unit 6 for the person who becomes the specific subject.

  In addition, when a person to be a specific subject has a transmitter such as a beacon in advance, a beacon transmission position is obtained by the beacon receiver 3, and which person in the image is the specific subject. Identify.

Then, when a specific subject is extracted, another subject belonging to the subject group is specified. The other subject is specified based on whether or not the movement vector approximates the specific subject among the persons in the image. As approximation conditions, threshold values are respectively set for a difference in movement direction and a difference in movement amount, and the range of the threshold value is approximated.
Further, whether or not it belongs to the subject group may be added as a condition that it is within a certain distance range with respect to a specific subject.
As a result, a subject group including a specific subject and another subject is extracted from the persons in the image. Also, other persons who do not belong to the subject group are recognized as non-subjects.

  For example, in FIG. 4C, when the symbol T1 is a specific subject, as shown in FIG. 4D, T2 to T4 arranged on the left and right of the specific subject T1 are both the specific subject T1. Since they are the same 0 vector, the movement vectors coincide with each other, so that they can be recognized as other subjects T2 to T4.

The entire movement vector of the subject group is obtained from the average of the movement vectors of all the extracted subjects. In this case, weighting may be performed so that the ratio is increased for a specific subject. Furthermore, other subjects may be weighted such that the closer the subject is to the specific subject, the greater the ratio.
In the example of FIG. 4D, since the subjects T1 to T4 are all 0 vectors, the entire movement vector of the subject group is also a 0 vector.

[Imaging control unit: detection means]
Based on the entire movement vector and non-subject movement vector of the subject group acquired by the acquisition unit 41, the detection unit 43 determines the entire area of the subject group, the non-subject area, and the background area. A process of distinguishing and detecting is performed.
The entire region of the subject group is a region that surrounds all the subjects, and the shape of the region is a predetermined arbitrary shape. For example, it may be a rectangle, a circle, an oval, or the like.
Further, the entire area of the subject group may be a range including the whole body of each subject, or may be a range including a part of each subject (part of the subject group). For example, the range may include the upper body and face (head) of each subject. It can be arbitrarily set in advance whether the entire area of the subject group should be the whole body of the subject or a range including any part thereof.
In the case of FIG. 4D, a rectangular region including the whole body of each of the subjects T1 to T4 is illustrated as the entire region W of the subject group.

The non-subject area is an area that individually surrounds each non-subject, and the shape of the area is a predetermined arbitrary shape. For example, it may be a rectangle, a circle, an oval, or the like.
The non-subject area may be a range including the whole body of the non-subject, or may be a range including a part of the non-subject (a part of the non-subject). For example, it may be a range including the upper body of the non-subject and the face (head). It can be arbitrarily set in advance whether the non-subject region should be the whole body of the subject or a range including any part thereof.
In the case of FIG. 4D, a rectangular area including the faces (heads) of the non-subjects NT1 and NT2 is illustrated as the non-subject area N.
As described above, when the face area is set as the non-subject area N, the detection unit 43 performs well-known face detection and determines the range of the area.

  As described above, the detection unit 43 detects the entire area W of the subject group and the non-subject area N, and recognizes a range other than these as the background area.

[Imaging control unit: determining means]
The determination unit 42 executes a process for determining the imaging region S based on the entire area W of the subject group detected by the detection unit 43.
The imaging area S is an area surrounding all or a part of all subjects, and the shape of the area is an arbitrary shape determined in advance. For example, it may be a rectangle, a circle, an oval, or the like.
The imaging region S may be a range including the whole body of each subject or a range including a part of each subject. For example, the range may include the upper body and face (head) of each subject.
It can be arbitrarily set in advance whether the imaging region S should be a whole body or a range including any part of the subject.
However, the imaging region S is determined to be a range inside the entire region W of the subject group or the same range as the entire region W of the subject group.
In the case of FIG. 4D, a rectangular area including the faces (heads) of the subjects T1 to T4 is illustrated as the imaging area S.
As described above, when the face area is set as the imaging area S, the determination unit 42 performs well-known face detection and determines the range of the area.

[Imaging control unit: giving means]
The assigning unit 45 distinguishes between a plurality of subjects and non-subjects of the subject group extracted based on the entire movement vector and non-detection body movement vector of the detection body group acquired by the acquisition unit 41, respectively. A process for assigning a unique identifier to is executed.
As shown in FIG. 4D, the assigning unit 45 assigns the same identifiers “T1”, “T2”, “T3”, and “T4” to the subjects T1 to T4 as shown in FIG. For certain non-subjects NT1 and NT2, the same identifiers “NT1” and “NT2” as those in the drawing are assigned.

As described above, the subjects T1 to T4 and the non-subjects NT1 and NT2 are all assigned different identifiers so that they can be individually identified.
For each of these identifiers, the assigning means 45 associates and stores in the memory 2 position information and movement vector information in the images of the subjects T1 to T4 and the non-subjects NT1, NT2.

[Imaging control unit: flight control means]
The flight control unit 44 controls the propulsion unit of the aircraft via the controller 401 and adjusts the imaging position and range by the camera unit 106.
For this reason, the flight control means 44 executes shielding avoidance control, first view angle variation control, second view angle variation control, and subject enlargement control.

The flight control unit 44 controls the propulsion unit so as to avoid the non-subject region N from covering the imaging region S in the shielding avoidance control.
That is, as shown in FIG. 5, when the imaging region S is set and the non-subject region N is overlaid on the imaging region S and shielded, the flight control means 44 moves the aircraft. And perform imaging again.
In the case of this shielding avoidance control, the airframe may be set to move in a predetermined direction at a predetermined distance. Further, when the shielding state occurs repeatedly, the aircraft may be moved in a different direction each time. In that case, the moving direction may be changed randomly, or the moving direction may be changed in a fixed order.

  Further, in the shielding avoidance control, when the shielding state occurs, the aircraft is kept at the current position for a certain period of time, and the imaging is performed after waiting for the non-subject NT1 to pass from the front of the imaging region S. You can go.

The flight control unit 44 controls the propulsion unit so that the position or size (the breadth of the field of view) of the field angle G with respect to the imaging region S varies in the first field angle variation control.
In the state in which the imaging region S is initially set, there may be a subject other than the specific subject T1 outside the angle of view G.
Therefore, as shown in FIG. 6, the flight control means 44 moves the view angle G to the front, back, left, or right within a range in which part or all of the imaging region S does not fall outside the range of the view angle G. Control is performed to operate the aircraft or to move the aircraft backward so that the size of the angle of view G (the width of the field of view) increases. In addition, the imaging region S is set again after the change in the angle of view.

In the case of the first angle-of-view variation control, the position of the angle of view may be changed by moving the machine body in a predetermined direction at a predetermined distance. Further, it may be set so that the position of the angle of view is changed by turning the aircraft in a predetermined angle range within a predetermined angle range.
Further, the field of view G may be moved in each of the up, down, left and right directions, and the imaging region S may be reset each time.
Also, when the aircraft is moved backward, it is desirable to control the vehicle so as to move backward by a predetermined distance. Further, only one of the vertical and horizontal movements of the aircraft and the backward movement of the aircraft may be performed.

The flight control means 44 controls the propulsion means so as to change the position or orientation of the airframe when the imaging region S is located at the end of the angle of view G in the second angle of view fluctuation control.
When the imaging region S is set at the end of the angle of view G, there may be a subject that cannot fit in the angle of view G beyond the direction in which the imaging region S goes outward from the end of the angle of view G.
As shown in FIG. 7A, one of the upper, lower, left and right ends of the imaging region S is closer to a predetermined distance range than any of the upper, lower, left and right ends of the angle of view G ( In the case of FIG. 7A, the left end portion). In this case, as shown in FIG. 7B, the flight control means 44 executes control for operating the aircraft so that the field angle G moves in a direction in which the imaging region S approaches the center of the field angle G. (In the case of FIG. 7B, the angle of view G is moved to the left). In addition, the imaging region S is set again after the change in the angle of view.

  In the case of the second view angle variation control, the airframe may be set to move at a predetermined distance in a direction in which the imaging region S is biased with respect to the view angle G. Alternatively, the position of the angle of view may be changed by turning the body in a predetermined angle range in a direction in which the imaging region S is biased with respect to the angle of view G.

The flight control unit 44 controls the propulsion unit in the subject enlargement control so that the ratio of the imaging region S to the angle of view G does not protrude from the angle of view G.
When the ratio of the area of the imaging region S to the angle of view G is small, the imaging region S has room for larger imaging.
For example, as shown in FIG. 8A, when the vertical width and the horizontal width of the imaging region S are smaller than the vertical width and the horizontal width of the angle of view G, each subject appears small.
In such a case, as shown in FIG. 8B, the flight control unit 44 executes control for moving the aircraft forward so that the imaging region S is enlarged. In addition, after this forward movement, the imaging region S is set again.

In the case of this subject enlargement control, the body may be set to move forward by a predetermined distance.
Further, the ratio of the vertical width of the imaging area S to the vertical width of the field angle G and the ratio of the horizontal width of the imaging area S to the horizontal width of the field angle G are compared, and the ratio of either the vertical or horizontal ratio is larger. Control may be performed so that the body is advanced until the width of the imaging region S reaches a predetermined ratio with respect to the width of the angle of view. For example, as shown in FIG. 8A, when the ratio of the left and right width of the imaging area S to the angle of view G is large, the left and right width of the imaging area S was initially 70% with respect to the angle of view G. As shown in FIG. 8B, the airframe may be controlled to advance until it reaches 90%. These numerical values are merely examples, and can be changed.

[Imaging operation by flying equipment]
The imaging control by the imaging control unit 4 will be described based on the flowcharts of FIGS. 9 and 10. FIG. 9 shows an area detection process for detecting the imaging area S in the imaging control, and FIG. 10 shows the overall imaging control performed from the start of flight to the end of flight.
Here, first, the region detection process will be described with reference to FIG.

When a captured image is acquired based on at least two or more work image data by imaging by the camera unit 106 (step S1: first imaging step), the acquisition unit 41 detects a person from each captured image. (Step S3).
Then, the acquisition unit 41 detects a specific subject T1 from the detected person by face authentication or beacon (step S5: see FIGS. 4A to 4C). If the specific subject T1 is not detected as a result of this detection (step S5: NO), the flight control means 44 changes the imaging direction or imaging position by moving or turning the aircraft (step S7), and step Returning to S1, imaging is performed again.

When a specific subject T1 is detected from the detected persons (step S5: YES), the acquisition unit 41 obtains a movement vector for each person, and determines that the entire movement vector of the subject group is not. The movement vector of the subject is obtained (acquisition process).
Further, the detection unit 43 distinguishes and detects the entire area W of the subject group, the non-subject area N, and the background area. Further, the determination unit 42 detects the imaging region S from the entire region W of the subject group (step S11: detection step, see FIG. 4D).
In this way, the imaging control unit 4 detects the imaging area S when a plurality of work image data is acquired by imaging.

Next, overall imaging control during the flight of the flying device 100 will be described with reference to FIG.
First, when the flying device 100 is thrown up and driving of the four sets of motors 105 of the propulsion unit is started and the flight is started (step S21), the imaging control unit 4 detects the above-described region detection along with imaging. Processing is executed to detect the imaging region S (step S23).

  Next, the flight control means 44 determines whether the imaging region S is located at either the top, bottom, left, or right end within the angle of view G (step S25). Step S25: NO), the first angle-of-view variation control is executed (Step S27: see FIG. 6). That is, the flight control means 44 extends the size of the angle of view G (the field of view) by retreating the aircraft. Alternatively, the angle of view G is moved in the vertical and horizontal directions by moving the machine. Then, the process proceeds to step S31 to reset the imaging region S.

  Further, when the imaging region S is located at any one of the upper, lower, left and right ends within the angle of view G (step S25: YES), the flight control means 44 executes the second angle of view variation control ( Step S29: See FIG. 7 (a) and FIG. 7 (b)). That is, the flight control unit 44 executes control to change the position or orientation of the aircraft in the direction in which the angle of view G moves in the direction in which the imaging region S is biased. Then, the process proceeds to step S31 to reset the imaging region S.

  When the imaging region S is reset, the flight control unit 44 executes shielding avoidance control (step S33: see FIG. 5). That is, it is determined whether or not the imaging area S is covered with the non-subject area N. If the non-subject area N is covered (step S33: YES), the flight control means 44 determines the aircraft in advance. After moving in a predetermined direction by a predetermined distance, imaging is performed again (step S35), and the process returns to step S1.

When the imaging region S does not cover the non-subject region N (step S33: NO), the flight control unit 44 executes subject enlargement control (step S37: FIG. 8A and FIG. 8). b)). That is, the flight control unit 44 executes control for moving the aircraft forward so that the imaging region S is enlarged. And the captured image imaged after the forward movement is preserve | saved in the image recording part 7 (step S39: 2nd imaging process).
Then, the imaging control unit 4 controls the propulsion unit, causes the flying device 100 to land at a predetermined position, ends the flight (step S41), and ends the imaging control.

  In step S39, the imaging area S is reset by the area detection process, and it is determined whether or not the imaging area S is covered with the non-subject area N. If not, the captured image is saved and covered. If yes, the process may be repeated from step S35.

[Technical effects of the first embodiment]
In the flying device 100, the imaging control unit 4 of the camera system 402 includes an acquisition unit 41 that acquires a predetermined movement vector and a detection unit 43 that detects a predetermined region, and thus includes a plurality of subjects (detectors). It is possible to appropriately detect the entire area of the subject (detection body) group. That is, a plurality of subjects can be comprehensively handled as a group.
For this reason, it is possible to appropriately extract a subject group from a plurality of persons including non-subjects and to capture the subject group.
Furthermore, since the flight control means 44 of the imaging control unit 4 performs shielding avoidance control for imaging so that the non-subject (non-detected body) region N does not cover the imaging region S, the entire subject group is improved. It is possible to take an image in a stable state.

In addition, since the acquisition unit 41 detects a movement vector of a specific subject (detection body) and uses this to detect another subject (detection body), the discrimination between the subject and the non-subject can be performed easily and effectively. Is possible.
Moreover, since the acquisition means 41 specifies a specific detection body (detection body) by face authentication or by a signal from a beacon that is a communication device included in the specific detection body, a specific subject can be easily and effectively used. It is possible to detect.

  The acquisition unit 41 acquires a movement vector of another subject (detection body), and based on the movement vector of the other subject and the movement vector of the specific subject (detection body), Since the entire movement vector is acquired, it is possible to recognize a comprehensive movement operation of the entire group. Furthermore, since the entire subject group can be handled comprehensively, processing can be performed more easily than when individual subjects are handled.

  In addition, the imaging control unit 4 includes an adding unit 45 that distinguishes a plurality of subjects (detectors) and non-subjects (non-detectors) in a subject (detector) group, and assigns a unique identifier to each. Therefore, it is possible to individually identify a plurality of subjects and manage information related to them individually.

In addition, the imaging control unit 4 includes the determination unit 42 that determines the imaging region S based on the entire region W of the subject group. Therefore, the imaging target is not limited to the entire subject group, and each subject It is possible to set and image an area to be noticed.
In particular, the determining means 42 determines the imaging area S as an area including each of the face areas of a plurality of subjects in the subject group, so that a face area that is generally demanded for imaging is appropriately captured for the subjects of the entire group. It becomes possible to do.

  Further, since the flight control unit 44 executes the first field angle variation control for controlling the propulsion unit so that the position or the size of the field angle G varies with respect to the imaging region S, the imaging region is initially captured. It is possible to newly include a subject that is out of S, and it is possible to capture a group of subjects more appropriately.

  Further, since the flight control means 44 executes the second angle-of-view variation control for controlling the propulsion means so as to change the position or orientation of the airframe when the imaging region S is located at the end of the angle of view G, It is possible to newly include a subject that has been out of the imaging region S in this imaging, and it is possible to capture a group of subjects more appropriately.

  Further, the flight control means 44 executes subject enlargement control for controlling the propulsion means so that the ratio of the imaging region S to the angle of view G increases without exceeding the angle of view G. Even when the image pickup region S becomes smaller within the angle of view G as a result of executing the first angle of view fluctuation control or the second angle of view fluctuation control, it is possible to extend the image more greatly. Imaging can be performed.

  The propulsion unit of the flying device 100 includes a controller 401 (control device) that controls the propulsion unit to start driving the motor 105 to fly the aircraft when the user throws up the aircraft. Therefore, it is possible to easily realize imaging of a subject group from the air.

[Others]
The flight control means 44 of the flying device 100 performs shielding avoidance control, first view angle variation control, second view angle variation control, and subject enlargement control. However, at least the shield avoidance control may be performed. good. Further, a configuration may be adopted in which part or all of the first view angle variation control, the second view angle variation control, and the subject enlargement control are not performed.
The captured image obtained in this way can later be processed into a desired image by the user himself performing trimming and other editing operations.

[Second Embodiment]
FIG. 11 is a block diagram showing a schematic configuration of an imaging apparatus 500A to which the detection body region detection apparatus and the imaging apparatus of the present invention are applied.
The image capturing apparatus 500A captures an image with a hand held by a user or is fixed to a support base such as a tripod, and does not have a function of moving or changing an image capturing direction by itself.
In this imaging apparatus 500A, the same components as those of the camera system 402 described above are denoted by the same reference numerals, and redundant description is omitted.

Compared with the camera system 402, the imaging apparatus 500A is provided with an operation input unit 9A for inputting an imaging operation or the like in the central control unit 1, and a display connected to another configuration via the bus line 10 8A is provided. Of course, the controller 401 of the flying device 100 is not connected to the bus.
The imaging control unit 4A of the imaging apparatus 500A includes imaging control means 44A instead of the flight control means 44.

The display unit 8A displays an image in the display area. Specifically, the display unit 8A displays a live view image while sequentially updating a plurality of image frames generated by imaging the subject by the camera unit 106 at a predetermined reproduction frame rate.
In addition, the display unit 8A functions as a notification unit, and displays a message such as an instruction to the user during imaging.
The display unit 8A includes, for example, a liquid crystal display panel and an organic EL display panel, but is not limited to these examples.

The operation input unit 9A is for inputting various instructions to the apparatus main body.
Specifically, the operation input unit 9A includes an operation unit (not shown) including, for example, a shutter button, up / down / left / right cursor buttons related to a selection instruction such as an operation mode and a function, and a determination button.
When various buttons on the operation unit are operated by the user, the operation input unit 9 </ b> A outputs an operation instruction corresponding to the operated button to the central control unit 1. The central control unit 1 causes each unit to execute a predetermined operation (for example, imaging of a subject) in accordance with the operation instruction output from the operation input unit 9A.
The operation input unit 9A may include a touch panel (not shown) provided integrally with the display unit 8A.

The imaging control unit 4A includes an acquisition unit 41, a determination unit 42, a detection unit 43, an imaging control unit 44A, and a provision unit 45. The imaging control unit 4A is also a computer that executes the program 62A of the storage unit 6 and performs control operations and processes of the units 41 to 43, 44A, and 45. Further, each of these means 41 to 43, 44A, 45 may also be constituted by a predetermined logic circuit.
Since the acquisition unit 41, the determination unit 42, the detection unit 43, and the provision unit 45 are the same as the camera system 402, the description thereof is omitted.

The imaging control unit 44A performs imaging processing by the camera unit 106 and display control in the display unit 8A.
The imaging control unit 44A executes shielding avoidance control, field angle variation control, and subject enlargement control.

The imaging control unit 44A controls the imaging timing so as to avoid the non-subject region N from being covered with the imaging region S in the shielding avoidance control.
That is, referring to FIG. 5 described above, when the shielding state occurs, the movement vector of the non-subject NT is acquired, so that the time for passing through the imaging region S can be obtained. Therefore, when the shutter button is operated by the operation input unit 9A, the imaging control unit 44A performs a process of saving the captured image after waiting for the non-subject NT to pass through the imaging region S.
Note that it may be determined whether or not a shielding state has occurred after waiting for a certain time, and if not, the captured image at that time may be stored, and if it has occurred, waiting for a certain time may be repeated.
By this shielding avoidance control, it becomes possible to image the entire group of subjects in good condition.

The imaging control unit 44A displays an instruction message on the display unit 8A so as to change the position or orientation of the imaging device 500A when the imaging region S is located at the end of the angle of view G in the angle of view variation control. Control to notify is performed.
When any one of the upper, lower, left and right ends of the imaging area S is close to a predetermined distance range with respect to any of the upper, lower, left and right ends of the angle of view G, the imaging area S has the angle of view. An instruction message for moving or changing the direction of the imaging apparatus 500A is displayed on the display unit 8A so that the angle of view G moves in the direction toward the center of G.
For example, in the case of FIG. 7A, an instruction message is displayed so as to turn the imaging apparatus 500A to the left or to move to the left. Alternatively, an instruction message may be issued so as to descend backward.
Note that not only the instruction message but also a simple symbol such as an arrow may be displayed.
As a result, it is possible to newly include a subject that is out of the imaging region S in the initial imaging, and it is possible to capture a group of subjects more appropriately.

In the subject enlargement control, the imaging control unit 44A displays and notifies an instruction message on the display unit 8A so that the ratio of the imaging area S to the angle of view G increases without protruding from the angle of view G. Take control.
For example, as shown in FIG. 8A, when there is room in the imaging area S with respect to the angle of view G, the imaging control means 44A, as shown in FIG. An instruction message for moving the imaging apparatus 500A forward is displayed on the display unit 8A so as to be enlarged. In this case, not only the instruction message but also a simple symbol such as an arrow may be displayed.
As a result, even when the angle of view G is excessively widened, the image can be extended more greatly and good imaging can be performed.

  In the case where the imaging apparatus 500A has a zoom function or the like, when there is room in the upper and lower sides and the left and right of the imaging area S, the imaging function area S does not protrude from the angle of view G by the zoom function. The ratio of the imaging area S to the angle of view G may be increased.

[Others]
In the above description, an example in which a flash memory or an EEPROM that is a nonvolatile memory of the storage unit 6 is used as a computer-readable medium of the programs 62 and 62A according to the present invention is disclosed, but the present invention is not limited to this example. As other computer-readable media, portable recording media such as HDD (Hard Disk Drive), SSD (Solid State Drive), and CD-ROM can be applied. When a portable recording medium is applied, an external portable recording medium reading device that can be attached to and detached from the flying device 100 or the imaging device 500A may be used.
A carrier wave is also applied to the present invention as a medium for providing program data according to the present invention via a communication line. In that case, it is desirable to provide communication means in the flying device 100 or the imaging device 500A.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments, and includes the scope of the invention described in the claims and the equivalent scope.
The invention described in the scope of claims attached to the application of the present application will be added below. The item numbers of the claims described in the appendix are as in the scope of the claims initially attached to the application of the present application.
[Appendix]
<Appendix 1>
Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Comprising
The detection body area | region detection apparatus characterized by the above-mentioned.
<Appendix 2>
The acquisition means includes
As the detection body, a specific detection body is specified and a movement vector of the specific detection body is acquired, and the specific detection object existing around the specific detection body is based on the movement vector of the specific detection body. Detect other detection objects that are different from the detection object,
The detection body region detection apparatus according to Supplementary Note 1, wherein
<Appendix 3>
The acquisition means includes
The specific detection body is specified by face authentication or by a signal from a communication device included in the specific detection body.
The detecting body region detecting device according to appendix 2, characterized in that:
<Appendix 4>
The acquisition means includes
Obtaining a movement vector of the other detection body, and obtaining an entire movement vector of the detection body group based on the movement vector of the other detection body and the movement vector of the specific detection body;
The detector region detection device according to Supplementary Note 2 or 3, wherein
<Appendix 5>
Based on the entire movement vector of the detected body group acquired by the acquisition means and the movement vector of the non-detected body, the plurality of detected bodies and the non-detected body of the detected body group are respectively distinguished. Separately, it further comprises an assigning means for assigning a unique identifier to each.
The detection body region detection device according to any one of supplementary notes 1 to 4, wherein
<Appendix 6>
An imaging means for imaging a plurality of images;
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging;
Comprising
An imaging apparatus characterized by that.
<Appendix 7>
A determination unit configured to determine the imaging region based on an area of at least a part of the subject group detected by the detection unit;
The imaging apparatus according to appendix 6, wherein:
<Appendix 8>
The determining means determines the imaging area as an area including each face area of the plurality of subjects of the subject group.
The imaging apparatus according to appendix 7, wherein the imaging apparatus is characterized.
<Appendix 9>
The imaging control means controls the timing of imaging so that the imaging area is included in an angle of view and at least a part of the non-subject area does not cover the imaging area.
The imaging apparatus according to any one of appendices 6 to 8, characterized in that:
<Appendix 10>
A notification means for notifying the user of the adjustment of the angle of view;
The imaging control unit controls the notification unit to notify the user so as to change a position or orientation of the imaging device when the imaging region is located at an end of the angle of view;
The imaging apparatus according to appendix 9, characterized in that:
<Appendix 11>
The imaging control unit controls the notification unit to notify the user so as to move the imaging device to a positional relationship where the imaging region does not protrude from the angle of view;
The imaging apparatus according to appendix 10, wherein the imaging apparatus is characterized.
<Appendix 12>
Based on the entire movement vector of the subject group acquired by the acquisition means and the movement vector of the non-subject, the plurality of subjects and the non-subject of the subject group are distinguished from each other and unique to each A granting unit for granting the identifier of
The imaging apparatus according to any one of appendices 6 to 11, characterized in that:
<Appendix 13>
An imaging means for imaging a plurality of images;
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
Propulsion means for flying the device in the air;
Flight control means for controlling the flight of the device based on at least a part of the subject group and at least a part of the non-subject;
Comprising
A flying device characterized by that.
<Appendix 14>
An imaging area determined based on at least one area of the subject group is set as an imaging target, and the flight control means sets the propulsion means so that the imaging area does not cover at least one area of the non-subject. Control,
Item 14. The flying device according to Appendix 13.
<Appendix 15>
The flight control means controls the propulsion means so that the position or size of the angle of view varies with respect to the imaging region.
Item 15. The flying device according to appendix 14, wherein
<Appendix 16>
The flight control means controls the propulsion means to change the position or orientation of the own apparatus when the imaging region is located at an end of the angle of view.
The flying device according to Supplementary Note 15, wherein
<Appendix 17>
The flight control means controls the propulsion means so that the ratio of the imaging area to the angle of view increases without protruding from the angle of view.
The flying device according to appendix 15 or 16, characterized in that.
<Appendix 18>
The propulsion means has a motor as a flight drive source and a rotor rotated by the motor,
When the device is thrown up by the user, the device further includes a control device that controls the propulsion unit to start driving the flight drive source and rotate the rotor to fly the device.
18. The flying device according to any one of appendices 13 to 17, wherein
<Appendix 19>
An acquisition step of acquiring a movement vector included in a plurality of captured images;
Based on the entire movement vector of the detection body group including the plurality of detection bodies that are detection targets acquired in the acquisition step, and the movement vector of the non-detection body that is not the detection target, at least of the detection body groups A detection step of distinguishing and detecting one part region and at least one part region of the non-detection body;
including,
A detection object region detection method characterized by the above.
<Appendix 20>
A first imaging step of imaging a plurality of images;
An acquisition step of acquiring movement vectors included in a plurality of images imaged in the first imaging step;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target, acquired in the acquisition step, an area of at least a part of the subject group And a detection step of distinguishing and detecting at least a part of the non-subject area;
The imaging region determined based on at least one region of the subject group detected in the detection step is set as an imaging target, and second imaging is performed so that at least one region of the non-subject does not cover the imaging region. Imaging process;
including,
An imaging method characterized by the above.
<Appendix 21>
The computer of the detection object region detection device,
Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Function as
A program characterized by that.
<Appendix 22>
A computer of an imaging apparatus provided with imaging means for imaging a plurality of images,
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging,
Function as
A program characterized by that.

2 Memory 3 Beacon receiver 4, 4 A Imaging control unit 7 Image recording unit 8 A Display unit (notification means)
9A Operation input unit 41 Acquisition means 42 Determination means 43 Detection means 44 Flight control means 44A Imaging control means 45 Appearance means 61 Face image data file 100 Flight apparatus 101 Main frame (airframe)
102 Motor frame (airframe)
104 Rotor blade (propulsion means)
105 Motor (propulsion means)
106 Camera unit (imaging means)
401 Controller (control device)
402 Camera system (detected object detection device, imaging device)
404 Motor driver (propulsion means)
500A imaging device (detected object detection device, imaging device)
B1, B2 Movement vector G Angle of view N Non-subject area NT1, NT2 Non-subject S Imaging area T1 Specific subject T2-T4 Other subject W Whole area of subject group

Claims (22)

Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Comprising
The detection body area | region detection apparatus characterized by the above-mentioned. The acquisition means includes
As the detection body, a specific detection body is specified and a movement vector of the specific detection body is acquired, and the specific detection object existing around the specific detection body is based on the movement vector of the specific detection body. Detect other detection objects that are different from the detection object,
The detection body region detection apparatus according to claim 1. The acquisition means includes
The specific detection body is specified by face authentication or by a signal from a communication device included in the specific detection body.
The detecting body region detecting device according to claim 2. The acquisition means includes
Obtaining a movement vector of the other detection body, and obtaining an entire movement vector of the detection body group based on the movement vector of the other detection body and the movement vector of the specific detection body;
The detection body area | region detection apparatus of Claim 2 or 3 characterized by the above-mentioned. Based on the entire movement vector of the detected body group acquired by the acquisition means and the movement vector of the non-detected body, the plurality of detected bodies and the non-detected body of the detected body group are respectively distinguished. Separately, it further comprises an assigning means for assigning a unique identifier to each.
The detection body region detection device according to claim 1, wherein the detection body region detection device is a detection object region detection device. An imaging means for imaging a plurality of images;
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging;
Comprising
An imaging apparatus characterized by that. A determination unit configured to determine the imaging region based on an area of at least a part of the subject group detected by the detection unit;
The imaging apparatus according to claim 6. The determining means determines the imaging area as an area including each face area of the plurality of subjects of the subject group.
The imaging apparatus according to claim 7. The imaging control means controls the timing of imaging so that the imaging area is included in an angle of view and at least a part of the non-subject area does not cover the imaging area.
The image pickup apparatus according to claim 6, wherein the image pickup apparatus is an image pickup apparatus. A notification means for notifying the user of the adjustment of the angle of view;
The imaging control unit controls the notification unit to notify the user so as to change a position or orientation of the imaging device when the imaging region is located at an end of the angle of view;
The imaging apparatus according to claim 9. The imaging control unit controls the notification unit to notify the user so as to move the imaging device to a positional relationship where the imaging region does not protrude from the angle of view;
The imaging apparatus according to claim 10. Based on the entire movement vector of the subject group acquired by the acquisition means and the movement vector of the non-subject, the plurality of subjects and the non-subject of the subject group are distinguished from each other and unique to each A granting unit for granting the identifier of
The image pickup apparatus according to claim 6, wherein the image pickup apparatus is an image pickup apparatus. An imaging means for imaging a plurality of images;
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
Propulsion means for flying the device in the air;
Flight control means for controlling the flight of the device based on at least a part of the subject group and at least a part of the non-subject;
Comprising
A flying device characterized by that. An imaging area determined based on at least one area of the subject group is set as an imaging target, and the flight control means sets the propulsion means so that the imaging area does not cover at least one area of the non-subject. Control,
The flying device according to claim 13. The flight control means controls the propulsion means so that the position or size of the angle of view varies with respect to the imaging region.
The flying device according to claim 14. The flight control means controls the propulsion means to change the position or orientation of the own apparatus when the imaging region is located at an end of the angle of view.
The flying device according to claim 15. The flight control means controls the propulsion means so that the ratio of the imaging area to the angle of view increases without protruding from the angle of view.
The flying device according to claim 15 or 16, characterized in that The propulsion means has a motor as a flight drive source and a rotor rotated by the motor,
When the device is thrown up by the user, the device further includes a control device that controls the propulsion unit to start driving the flight drive source and rotate the rotor to fly the device.
The flying device according to any one of claims 13 to 17, characterized in that: An acquisition step of acquiring a movement vector included in a plurality of captured images;
Based on the entire movement vector of the detection body group including the plurality of detection bodies that are detection targets acquired in the acquisition step, and the movement vector of the non-detection body that is not the detection target, at least of the detection body groups A detection step of distinguishing and detecting one part region and at least one part region of the non-detection body;
including,
A detection object region detection method characterized by the above. A first imaging step of imaging a plurality of images;
An acquisition step of acquiring movement vectors included in a plurality of images imaged in the first imaging step;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target, acquired in the acquisition step, an area of at least a part of the subject group And a detection step of distinguishing and detecting at least a part of the non-subject area;
The imaging region determined based on at least one region of the subject group detected in the detection step is set as an imaging target, and second imaging is performed so that at least one region of the non-subject does not cover the imaging region. Imaging process;
including,
An imaging method characterized by the above. The computer of the detection object region detection device,
Acquisition means for acquiring a movement vector included in a plurality of captured images;
Based on the whole movement vector of the detection body group including the plurality of detection bodies that are detection targets and the movement vector of the non-detection body that is not the detection target, acquired by the acquisition means, at least of the detection body groups Detecting means for distinguishing and detecting one part region and at least one part region of the non-detecting body;
Function as
A program characterized by that. A computer of an imaging apparatus provided with imaging means for imaging a plurality of images,
Acquisition means for acquiring movement vectors included in a plurality of images imaged by the imaging means;
Based on the entire movement vector of the subject group including a plurality of subjects that are imaging targets and the movement vector of a non-subject subject that is not the imaging target acquired by the acquisition unit, at least a part of the region of the subject group Detecting means for distinguishing and detecting at least a part of the non-subject area;
An imaging region determined based on at least one region of the subject group detected by the detection unit is set as an imaging target, and the imaging unit is configured so that at least one region of the non-subject does not cover the imaging region. Imaging control means for controlling and imaging,
Function as
A program characterized by that.

Images