JP6710863B2 - Aircraft, control method, and program - Google Patents

Description

The present invention relates to an image processing device, a moving object, an image processing method, and a program.

Patent Document 1 describes that a panoramic moving image including a plurality of panoramic images is obtained by generating a plurality of panoramic images while shifting the clipping positions of the strip images from the plurality of captured images. ..
Patent Document 1 JP 2011-66635 A

It is desired to provide a more natural panoramic video image.

The image processing device according to an aspect of the present invention may include an acquisition unit that acquires a moving image captured by the image capturing device while the image capturing device is rotating or moving. The image processing device, for each of the plurality of images forming the moving image, a portion that does not overlap with one image of the plurality of images and one of the images other than the one image of the plurality of images. A first generation unit may be included that generates a combined image including a subject in a wider range than the range of the subject included in one image by using the image and the image. The image processing device may include a second generation unit that generates a moving image composed of a plurality of composite images.

For each of the plurality of images, the first generation unit does not overlap with each other in the one image and a plurality of other images other than the one image of the plurality of images, and does not overlap with the one image. The partial images may be used to generate each of the composite images.

The moving body according to one aspect of the present invention may be a moving body that includes the image processing device and the imaging device and moves.

The moving body may track the target object so that the imaging device can capture a moving image including the specific target object.

The moving body may be a flying body. The driven object may track the object by rotating while hovering.

The image processing method may include a step of acquiring a moving image captured by the image capturing device while the image capturing device is rotating or moving. The image processing method includes, for each of a plurality of images forming a moving image, one image out of the plurality of images and at least one other image out of the plurality of images and is included in the one image. The method may include the step of generating each of the composite images including a subject in a range wider than the range of the subject. The image processing method may include a step of generating a moving image composed of a plurality of composite images.

The program according to one aspect of the present invention may be a program for causing a computer to function as the image processing device.

According to one aspect of the present invention, a more natural panoramic video image can be provided.

Note that the above summary of the invention does not enumerate all necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

It is a figure showing an example of the appearance of an unmanned aerial vehicle and a remote control. It is a figure showing an example of a functional block of an unmanned aerial vehicle. It is a figure which shows an example of the mode of operation of an unmanned aerial vehicle. It is a figure for demonstrating the procedure which produces|generates each synthetic image from the some image which comprises a moving image. It is a figure for demonstrating the procedure which produces|generates each synthetic image from the some image which comprises a moving image. It is a figure for demonstrating the procedure which produces|generates each synthetic image from the some image which comprises a moving image. It is a figure for demonstrating the procedure which produces|generates each synthetic image from the some image which comprises a moving image. It is a figure which shows an example of each synthetic image. It is a flow chart which shows an example of the procedure of operation of an unmanned aerial vehicle and an imaging device. It is a figure which shows an example of a hardware constitution.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all combinations of the features described in the embodiments are essential to the solving means of the invention. It is apparent to those skilled in the art that various modifications and improvements can be added to the following embodiments. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

The claims, the description, the drawings and the abstract contain the subject matter of copyright protection. The copyright owner has no objection to the reproduction by any person of these documents, as it appears in the Patent Office file or record. However, in all other cases, all copyrights are reserved.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where a block is (1) a stage of a process in which an operation is performed or (2) a device responsible for performing an operation. "Part" of may be represented. Particular stages and "sections" may be implemented by programmable circuits and/or processors. Dedicated circuitry may include digital and/or analog hardware circuitry. It may include integrated circuits (ICs) and/or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. Memory elements and the like.

Computer-readable media may include any tangible device capable of storing instructions executed by a suitable device. As a result, a computer-readable medium having instructions stored therein will comprise a product that includes instructions that may be executed to create the means for performing the operations specified in the flowcharts or block diagrams. Examples of computer readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-Ray (RTM) Disc, Memory Stick, Integrated Circuit cards and the like may be included.

Computer readable instructions may include either source code or object code written in any combination of one or more programming languages. Source code or object code includes conventional procedural programming languages. Conventional procedural programming languages include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA, C++, etc. It may be an object-oriented programming language, and the "C" programming language or similar programming languages. Computer readable instructions are local or to a wide area network (WAN), such as a local area network (LAN), the Internet, etc., to a processor or programmable circuit of a general purpose computer, a special purpose computer, or other programmable data processing device. ). The processor or programmable circuit may execute computer readable instructions to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV body 20, a gimbal 50, a plurality of imaging devices 60, and an imaging device 100. The gimbal 50 and the imaging device 100 are an example of an imaging system. The UAV 10 is an example of a mobile body. The moving body is a concept including a flying body moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like. The air vehicle moving in the air is a concept including UAV, other aircraft moving in the air, an airship, a helicopter, and the like.

The UAV body 20 includes a plurality of rotary blades. The plurality of rotary blades is an example of the propulsion unit. The UAV main body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotor blades. The UAV body 20 flies the UAV 10 by using, for example, four rotary wings. The number of rotor blades is not limited to four. Further, the UAV 10 may be a fixed wing aircraft having no rotary wing.

The imaging device 100 is an imaging camera that images an object included in a desired imaging range. The gimbal 50 rotatably supports the imaging device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 supports the imaging device 100 using an actuator so as to be rotatable on the pitch axis. The gimbal 50 further supports the imaging device 100 by using an actuator so as to be rotatable about each of a roll axis and a yaw axis. The gimbal 50 may change the attitude of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of imaging devices 60 are sensing cameras that capture images around the UAV 10 in order to control the flight of the UAV 10. Two imaging devices 60 may be provided on the front surface of the UAV 10, which is the nose. Still another two imaging devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired and may function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired and function as a stereo camera. The imaging device 60 may measure the presence of an object included in the imaging range of the imaging device 60 and the distance to the object. The imaging device 60 is an example of a measuring device that measures an object existing in the imaging direction of the imaging device 100. The measuring device may be another sensor such as an infrared sensor or an ultrasonic sensor that measures an object existing in the imaging direction of the imaging device 100. Three-dimensional spatial data around the UAV 10 may be generated based on the images captured by the plurality of imaging devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 only needs to include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, tail, side surface, bottom surface, and ceiling surface of the UAV 10. The angle of view that can be set by the imaging device 60 may be wider than the angle of view that can be set by the imaging device 100. The imaging device 60 may have a single focus lens or a fisheye lens.

The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate with the UAV 10 wirelessly. The remote control device 300 transmits instruction information indicating various commands regarding movement of the UAV 10, such as ascending, descending, accelerating, decelerating, moving forward, moving backward, and rotating, to the UAV 10. The instruction information includes, for example, instruction information for increasing the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at the altitude indicated by the instruction information received from the remote control device 300. The instruction information may include a lift command for lifting the UAV 10. The UAV 10 rises while receiving the rise command. Even if the UAV 10 receives the ascent command, the UAV 10 may limit the ascent if the altitude of the UAV 10 reaches the upper limit altitude.

FIG. 2 shows an example of functional blocks of the UAV 10. The UAV 10 includes a UAV control unit 30, a memory 32, a communication interface 36, a propulsion unit 40, a GPS receiver 41, an inertial measurement device 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, and an imaging device. 60 and the imaging device 100.

The communication interface 36 communicates with other devices such as the remote control device 300. The communication interface 36 may receive instruction information including various commands to the UAV control unit 30 from the remote control device 300. In the memory 32, the UAV control unit 30 allows the propulsion unit 40, the GPS receiver 41, the inertial measurement device (IMU) 42, the magnetic compass 43, the barometric altimeter 44, the temperature sensor 45, the humidity sensor 46, the gimbal 50, the imaging device 60, Also, a program and the like necessary for controlling the image pickup apparatus 100 are stored. The memory 32 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 32 may be provided inside the UAV body 20. It may be detachably provided from the UAV body 20.

The UAV control unit 30 controls the flight and imaging of the UAV 10 according to the program stored in the memory 32. The UAV control unit 30 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 propels the UAV 10. The propulsion unit 40 has a plurality of rotating blades and a plurality of drive motors that rotate the plurality of rotating blades. The propulsion unit 40 rotates a plurality of rotary wings via a plurality of drive motors in accordance with a command from the UAV control unit 30 to fly the UAV 10.

The GPS receiver 41 receives a plurality of signals indicating the times transmitted from a plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received signals. The IMU 42 detects the attitude of the UAV 10. The IMU 42 detects, as the attitude of the UAV 10, the accelerations in the front-rear, left-right, and up-down three-axis directions of the UAV10 and the angular velocities of the pitch, roll, and yaw in the three-axis directions. The magnetic compass 43 detects the heading of the UAV 10 nose. Barometric altimeter 44 detects the altitude at which UAV 10 flies. The barometric altimeter 44 detects the atmospheric pressure around the UAV 10, converts the detected atmospheric pressure into an altitude, and detects the altitude. The temperature sensor 45 detects the temperature around the UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.

The image pickup apparatus 100 includes an image pickup unit 102 and a lens unit 200. The lens unit 200 is an example of a lens device. The image capturing unit 102 includes an image sensor 120, an image capturing control unit 110, and a memory 130. The image sensor 120 may be composed of CCD or CMOS. The image sensor 120 captures the optical image formed via the plurality of lenses 210 and outputs the captured image data to the imaging control unit 110. The imaging control unit 110 may be configured by a microprocessor such as CPU or MPU, a microcontroller such as MCU, or the like. The imaging control unit 110 may control the imaging device 100 according to an operation command of the imaging device 100 from the UAV control unit 30. The memory 130 may be a computer-readable recording medium and may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. The memory 130 stores programs and the like required by the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The memory 130 may be provided so as to be removable from the housing of the imaging device 100.

The lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least some or all of the plurality of lenses 210 are movably arranged along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably attached to the imaging unit 102. The lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanical member such as a cam ring. The lens driving unit 212 may include an actuator. The actuator may include a stepper motor. The lens control unit 220 drives the lens driving unit 212 in accordance with a lens control command from the imaging unit 102, and moves one or a plurality of lenses 210 along the optical axis direction via a mechanical member. The lens control command is, for example, a zoom control command and a focus control command.

The lens unit 200 further includes a memory 222 and a position sensor 214. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens driving unit 212 according to a lens operation command from the image pickup unit 102. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens driving unit 212 according to a lens operation command from the image pickup unit 102. Part or all of the lens 210 moves along the optical axis. The lens control unit 220 executes at least one of the zoom operation and the focus operation by moving at least one of the lenses 210 along the optical axis. The position sensor 214 detects the position of the lens 210. The position sensor 214 may detect the current zoom position or focus position.

The lens driving unit 212 may include a shake correction mechanism. The lens controller 220 may execute the shake correction by moving the lens 210 in the direction along the optical axis or in the direction perpendicular to the optical axis via the shake correction mechanism. The lens driving section 212 may drive the shake correction mechanism with a stepping motor to execute shake correction. The shake correction mechanism may be driven by a stepping motor to move the image sensor 120 in a direction along the optical axis or in a direction perpendicular to the optical axis to perform the shake correction.

The memory 222 stores control values of the plurality of lenses 210 that move via the lens driving unit 212. The memory 222 may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory.

The imaging device 100 mounted on the UAV 10 configured as described above provides a more natural moving image of a panoramic image.

The imaging control unit 110 has an acquisition unit 112 and a generation unit 114. The acquisition unit 112 acquires a moving image captured by the image capturing apparatus 100 while the image capturing apparatus 100 is rotating or moving. The generation unit 114 uses, for each of the plurality of images that form the moving image, one image and a partial image that does not overlap with one of the images other than one of the plurality of images, A synthetic image including a subject in a range wider than the range of the subject included in one image is generated. Each of the plurality of images forming the moving image is an image for each frame of the moving image.

The generation unit 114 uses, for each of the plurality of images forming the moving image, the entire one image and a partial image that does not overlap with one of the images other than the one of the plurality of images. A composite image including a subject in a wider range than the range of the subject included in one image may be generated. For each of the plurality of images, the generation unit 114 does not overlap each other in the one image and the plurality of other images other than the one image of the plurality of images, and the respective portions that do not overlap with the one image. The images and may be used to generate each of the composite images. For each of the plurality of images, the generation unit 114 does not overlap each other in the entire one image and a plurality of other images other than the one image of the plurality of images, and does not overlap with the one image. The partial images may be used to generate each of the composite images.

The generation unit 114 generates a moving image composed of a plurality of composite images. The generation unit 114 may generate a moving image by changing the frame size to a frame size corresponding to a panoramic image and compressing each composite image in a predetermined moving image compression format such as MPEG.

The UAV 10 may track the target object so that the imaging device 100 can capture a moving image including the specific target object. The UAV 10 may track an object by rotating while hovering. For example, as shown in FIG. 3, the UAV 10 may track the object 500 by rotating around the yaw axis while hovering in response to the movement of the object 500. The imaging device 100 may capture a moving image while the UAV 10 is tracking the object 500.

The acquisition unit 112 and the generation unit 114 may be included in the UAV control unit 30, the remote control device 300, or the like, instead of the imaging control unit 110. Another device such as a personal computer or a server on the cloud may include the acquisition unit 112 and the generation unit 114.

For example, the imaging device 100 captures images F1 to F8 that form a moving image as illustrated in FIG. 4A while the UAV 10 is tracking the target object 500. The acquisition unit 112 acquires images F1 to F8 captured by the image capturing apparatus 100.

The generation unit 114 generates a composite image for each of the images F1 to F8. For each of the images F1 to F8, the generation unit 114 does not overlap with each other in one image and a plurality of other images other than the one of the plurality of images, and does not overlap with the one image. The partial images of and may be used to generate each of the composite images.

The generation unit 114 may generate the composite image S1 for the image F1 as illustrated in FIG. 4B. The generation unit 114 cuts out a partial image P2 that does not overlap the image F1 from the image F2. The generation unit 114 cuts out a partial image P3 that does not overlap the images F1 and F2 from the image F3. The generation unit 114 cuts out a partial image P4 that does not overlap the images F1 to F3 in the image F4. The generation unit 114 cuts out a partial image P5 that does not overlap the images F1 to F4 in the image F5. The generation unit 114 cuts out a partial image P6 that does not overlap the images F1 to F5 from the image F6. The generation unit 114 cuts out a partial image P7 that does not overlap the images F1 to F6 in the image F7. The generation unit 114 cuts out a partial image P8 that does not overlap the images F1 to F7 in the image F8. The generation unit 114 generates the composite image S1 using the entire image F1 and the partial images P2 to P8.

As illustrated in FIG. 4C, the generation unit 114 does not overlap the entire image F4 with the other images F1 to F3 and the images F5 to F8 and does not overlap with the image F4. A combined image S4 is generated using the partial images P5 to P8. As shown in FIG. 4D, the generation unit 114 uses the entire image F8 and the partial images P1 to P7 of the other images F1 to F7 that do not overlap with each other and do not overlap with the image F8. The image S8 is generated.

The generation unit 114 generates combined images S1 to S8 for each of the images F1 to F8, as shown in FIG. The generation unit 114 generates a moving image that reproduces the composite images S1 to S8 in time series. The generation unit 114 may generate a moving image by compressing the combined images S1 to S8 in a predetermined moving image compression format.

The generation unit 114 does not have to generate the composite image by using the partial images of all the images of each frame forming the moving image. The generation unit 114 may generate a composite image using, for example, the entire image of one frame and the partial image of at least one frame of the other frames. The generation unit 114 may generate a composite image by using the entire image of one frame and the partial image for each predetermined frame interval.

Each frame of the moving image including the composite image is configured by adding a part of another frame to each of the frames of the moving image before the combination. Since each frame of the moving image before composition remains without being cut off, a more natural panoramic moving image can be provided.

It should be noted that the size of the image of the frame serving as the reference of each frame of the moving image before composition may not be the size of the entire image as long as the images of the same size are used in the respective reference frames. However, even in this case, the size of the image of the reference frame is larger than the size of the partial image to be added.

FIG. 6 is a flowchart showing an example of an operation procedure of the UAV 10 and the imaging device 100 in the panoramic video mode.

The UAV 10 starts flying (S100). The UAV 10 sets the operation mode to the panoramic video mode in response to an instruction via the remote control device 300 or the like (S102). The user selects a tracking target object via the screen of the remote control device 300. The UAV 10 may automatically select an object to be tracked according to a predetermined tracking condition.

The UAV 10 hovers and tracks an object, and the imaging device 100 rotates around the yaw axis to capture a moving image (S104). The generation unit 114 generates, for each image forming the moving image, a composite image including a subject in a range wider than the range of the subject included in each image (S106). The generation unit 114 compresses each composite image in a predetermined moving image compression format and stores each composite image as a moving image in the memory 130 or the memory 32 (S108).

As described above, according to the present embodiment, a panoramic image of each frame is generated while leaving an image of each frame forming a moving image, and thus a more natural panoramic moving image can be provided.

In the above embodiment, an example has been described in which a moving image is captured while an object is being tracked by the imaging device 100 mounted on the UAV 10. However, the imaging device 100 may not be mounted on the UAV 10. For example, the user may hold the image capturing apparatus 100 in his hand and rotate or move the image capturing apparatus 100 to cause the image capturing apparatus 100 to capture a moving image. The user may hold the image pickup apparatus 100 in his/her hand through a handheld gimbal, a support rod, or the like, and cause the image pickup apparatus 100 to take a moving image while rotating or moving the image pickup apparatus 100.

FIG. 7 illustrates an example computer 1200 in which aspects of the invention may be embodied in whole or in part. The program installed in the computer 1200 can cause the computer 1200 to function as an operation associated with an apparatus according to an embodiment of the present invention or one or more “units” of the apparatus. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more “units”. The program can cause the computer 1200 to execute a process according to the embodiment of the present invention or a stage of the process. Such programs may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other by a host controller 1210. Computer 1200 also includes a communication interface 1222, input/output units, which are connected to host controller 1210 via input/output controller 1220. Computer 1200 also includes ROM 1230. The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit.

The communication interface 1222 communicates with other electronic devices via a network. A hard disk drive may store programs and data used by CPU 1212 in computer 1200. The ROM 1230 stores therein a boot program or the like executed by the computer 1200 at the time of activation, and/or a program depending on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, a USB memory or an IC card, or a network. The program is installed in the RAM 1214 or the ROM 1230, which is also an example of a computer-readable recording medium, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and brings about the cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing the operation or processing of information according to the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes the communication program loaded in the RAM 1214, and performs the communication process on the communication interface 1222 based on the process described in the communication program. You may order. The communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the RAM 1214 or a recording medium such as a USB memory under the control of the CPU 1212, transmits the read transmission data to the network, or The reception data received from the network is written in the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 causes the RAM 1214 to read all or necessary portions of a file or database stored in an external recording medium such as a USB memory, and executes various types of processing on the data on the RAM 1214. Good. CPU 1212 may then write back the processed data to an external storage medium.

Various types of information such as various types of programs, data, tables, and databases may be stored on the recording medium and processed. The CPU 1212 may retrieve data read from the RAM 1214 for various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information described elsewhere in this disclosure and specified by the instruction sequence of the program. Various types of processing may be performed, including /replacement, etc., and the result is written back to RAM 1214. Further, the CPU 1212 may search for information in files, databases, etc. in the recording medium. For example, when a plurality of entries each having the attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. That is, the entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and thereby the first attribute satisfying the predetermined condition is associated. The attribute value of the acquired second attribute may be acquired.

The programs or software modules described above may be stored on a computer-readable storage medium on or near computer 1200. Further, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, whereby the program can be stored in the computer 1200 via the network. provide.

The execution order of each process such as operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is "preceding" or "prior to prior". It should be noted that the output of the previous process can be realized in any order unless it is used in the subsequent process. The operation flow in the claims, the specification, and the drawings is described by using “first,” “next,” and the like for the sake of convenience, but it is essential that the operations are performed in this order. Not a thing.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

10 UAV
20 UAV Main Body 30 UAV Control Unit 32 Memory 36 Communication Interface 40 Propulsion Unit 41 GPS Receiver 42 Inertial Measuring Device 43 Magnetic Compass 44 Barometric Altimeter 45 Temperature Sensor 46 Humidity Sensor 50 Gimbal 60 Imaging Device 100 Imaging Device 102 Imaging Unit 110 Imaging Control Unit 112 acquisition unit 114 generation unit 120 image sensor 130 memory 200 lens unit 210 lens 212 lens drive unit 214 position sensor 220 lens control unit 222 memory 300 remote control device 500 target 1200 computer 1210 host controller 1212 CPU
1214 RAM
1220 Input/output controller 1222 Communication interface 1230 ROM

Claims (3)

A flying vehicle that is equipped with an imaging device and rotates while hovering so that the imaging device can capture a moving image including a specific object, and is a flying object that tracks the object.
While the imaging device starts capturing a moving image including the target object in response to selection of the target object through the image captured by the imaging device, while the imaging device rotates or moves. An acquisition unit that acquires the moving image captured by the imaging device,
A portion of each of the plurality of images forming the moving image that does not overlap with one of the plurality of images and the other one of the plurality of images other than the one image. A first generation unit that generates a composite image including a subject in a wider range than the range of the subject included in the one image using the image;
A second generation unit configured to generate a moving image composed of the plurality of composite images including the specific object,
For each of the plurality of images, the first generation unit does not overlap with each other in the one image and a plurality of other images other than the one image of the plurality of images, and An air vehicle that generates each of the composite images including the specific object using the respective partial images that do not overlap with the image. Fly an image pickup device such that said imaging device can capture a moving image including a specific object, that rotates while hovering, a control method of a flying object for tracking the object,
While the imaging device starts capturing a moving image including the target object in response to selection of the target object through the image captured by the imaging device, while the imaging device rotates or moves. A step of acquiring the moving image captured by the image capturing device,
For each of the plurality of images forming the moving image, a subject included in the one image using one image of the plurality of images and at least one other image of the plurality of images Generating each of the composite images including a wider range of subjects than
Generating a moving image composed of a plurality of the composite images including the specific object,
Generating each of the composite images, for each of the plurality of images, the one image, without overlapping each other in a plurality of other images other than the one image of the plurality of images, And a control method including the step of generating each of the composite images including the specific object using the partial images that do not overlap with the one image. A program for causing a computer to function as the flying object according to claim 1 .

Images