JP5714960B2 - Monitoring range detector - Google Patents

Description

  The present invention detects a monitoring range of a monitoring device such as a monitoring camera or an infrared sensor installed in a monitoring place (that is, a detection range of an imaging range of the monitoring camera or an infrared sensor) and notifies the user of the monitoring range. Relates to the device.

  In recent years, for security purposes, the number of individuals, corporations, public institutions, etc., to which surveillance cameras are attached is increasing. For example, in a case where a resident in a residential area installs a surveillance camera with a camera turntable on the outer wall of his / her home, and uses a personal computer at home to monitor images outdoors while performing operations such as panning, tilting and zooming It has come out.

  However, with such a surveillance camera, there is a possibility that the user will intentionally browse the neighbor's house or infringe privacy, such as browsing the neighbor on the road with a telephoto. I can't deny it. For this reason, there is an increasing need to confirm the appropriateness of the monitoring range of a monitoring camera that monitors such a public space by a general person such as a passerby.

  Conventionally, a person directly confirms a monitoring image captured by a monitoring camera visually to confirm that the monitoring camera does not infringe the privacy of others. In addition, in order to confirm the monitoring range of the monitoring camera, a technique has also been proposed in which an image representing the imaging range calculated from the installation position and orientation of the monitoring camera, the angle of view information, and the like is superimposed and displayed on a map image ( Patent Document 1).

JP 2000-358240 A

  However, in the above-described conventional technology, for example, when the user grasps whether or not the surveillance range of the surveillance camera exists in front of himself / herself, the user always represents his / her current position and the imaging range superimposed on the map. The positional relationship with the image had to be confirmed, which required practical work.

  Therefore, the present invention makes it possible to detect whether or not a monitoring range of a monitoring device such as a monitoring camera exists within a direction / range defined according to the position or posture of a terminal possessed by a user. With the goal. Accordingly, the user can easily grasp whether or not the monitoring range of the monitoring camera exists within a predetermined range in front of the user without always confirming the positional relationship on the map as in the prior art. And

  In order to solve such a problem, a monitoring range detection device that detects a monitoring range of a monitoring device, an imaging unit that acquires a captured image, a state acquisition unit that acquires a current position and an optical axis of the imaging unit, A place model expressing a place monitored by the monitoring device as a three-dimensional virtual space, monitoring condition information in which the installation position, monitoring direction, and monitoring angle information of the monitoring device are associated with the place model, and the angle of view and state of the imaging unit A storage unit that stores imaging condition information in which the current position and optical axis of the imaging unit acquired by the acquisition unit are associated with a location model, and a monitoring range of the monitoring device based on the location model and the monitoring condition information When the monitoring range model and the imaging range model intersect, the model generation means for generating the imaging range model that generates the imaging range model that represents the imaging range of the imaging unit based on the location model and the imaging condition information Providing a the determining means within the field of view of the imaging unit contains the monitoring range of the monitoring device, and a display unit for displaying the determination result by the determining means, the monitoring range sensing apparatus characterized by having a.

With this configuration, the model generation unit of the present invention generates a monitoring range model having a three-dimensional shape that represents the monitoring range of the monitoring device based on the location model and the monitoring condition information, and based on the location model and the imaging condition information. Processing for generating a three-dimensional imaging range model representing the imaging range of the imaging unit is performed. And the determination means of this invention performs the process which determines whether the monitoring range model and the imaging range model cross on the place model. Here, the determination unit determines that the monitoring range of the monitoring device is included in the field of view of the imaging unit when the monitoring range model and the imaging range model intersect. When the determination unit determines that the monitoring range of the monitoring device is included in the field of view of the imaging unit, the display unit of the present invention displays, for example, a message indicating that as a determination result.
By the above process, the user can detect that the monitoring range of the monitoring device is included in the field of view of the imaging unit. For example, whether or not the monitoring range of the monitoring device exists in front of himself / herself When it is desired to confirm, it is possible to detect by controlling the viewing direction so that the optical axis of the imaging unit is directed forward.

Moreover, as a preferable aspect of the present invention, the place model is assumed to represent a three-dimensional virtual space including an object present at the monitoring place.
For example, the place model is stored in the storage unit as a representation of a three-dimensional virtual space including the three-dimensional shape information of an object such as a building structure or a ground such as a wall or a pillar of a building at a monitoring place. Shall. With this configuration, the model generation means of the present invention performs processing for generating a monitoring range model based on the monitoring condition information in consideration of interference with the object of the location model and arranging the monitoring range model in the location model. . The model generation means of the present invention generates an imaging range model based on imaging condition information in consideration of interference with an object of the location model, and performs processing for arranging the imaging range model in the location model. Then, the determination means of the present invention determines whether or not the monitoring range of the monitoring device is included in the field of view of the imaging unit depending on whether or not the monitoring range model and the imaging range model intersect on the place model. Perform the process.
By the above processing, for example, when the monitoring range of the monitoring device is blocked by an object such as a wall, or when the monitoring range of the monitoring device is hidden behind an object such as a wall when viewed from the imaging unit, It is possible to determine whether or not the monitoring range is included in the field of view of the imaging unit in consideration of the monitoring range of the blocked (or concealed) portion. Therefore, the user can detect the monitoring range of the monitoring device more accurately.

Further, as a preferable aspect of the present invention, when the determination unit determines that the monitoring range of the monitoring device is included in the field of view of the imaging unit, the monitoring unit model and imaging condition information are used to determine the imaging unit. Rendering means for generating a rendering image corresponding to the field of view, and synthesis processing means for outputting a synthesized image obtained by synthesizing the captured image acquired by the imaging unit and the rendered image, and the display unit displays the synthesized image And
With this configuration, when the determination unit of the present invention determines that the monitoring range of the monitoring device is included in the field of view of the imaging unit, the rendering unit of the present invention includes the place model where the monitoring range model is arranged, Using the imaging condition information, a process of generating a rendering image corresponding to the visual field from the imaging unit is performed. For example, the rendering unit arranges a virtual camera (hereinafter referred to as “virtual camera”) set based on the imaging condition information in the place model where the monitoring range model is arranged, and from the virtual camera, 3 A rendering image corresponding to the field of view of the imaging unit is generated by performing a rendering process of the three-dimensional computer graphics. Then, the composition processing means of the present invention performs a process of outputting a composite image obtained by combining the captured image from the image capturing unit and the rendered image. For example, an image region representing a monitoring range of the monitoring device (hereinafter referred to as “monitoring range image”) is extracted from the rendered image, and a composite image is output by overlaying the monitoring range image on the captured image. And the said synthesized image is displayed by the display part of this invention.
Through the above processing, the user can not only detect that the monitoring range of the monitoring device is included in the field of view of the imaging unit by browsing the monitoring range image in the composite image, but also change the shape of the monitoring range to a three-dimensional shape. Therefore, the appropriateness of the monitoring range can be confirmed. Furthermore, since the above processing performs rendering processing to reproduce the monitoring range image only when it is determined that the monitoring range of the monitoring device is included in the field of view of the imaging unit, it is not necessary to perform unnecessary rendering processing and rendering The processing load required for processing can be reduced.

As a preferred aspect of the present invention, the display unit is fixedly disposed at a position perpendicular to the optical axis of the imaging unit.
Accordingly, the user can move the display unit together with the imaging unit, and can further match the user's line of sight viewing the display unit with the optical axis of the imaging unit. Can be confirmed from the user's perspective.

  As described above, the monitoring range detection device of the present invention models the monitoring range of the monitoring device and the imaging range of the imaging unit, and determines the intersection between them, thereby allowing the user to It is possible to detect whether or not the monitoring range of the monitoring range is included in the field of view of the user, so it is possible to confirm whether or not the monitoring range of the monitoring device exists in front of the user, for example.

Schematic diagram of usage of monitoring range detection device Block diagram showing the configuration of the monitoring range detector Illustration of angle obtained with electronic compass and tilt sensor Diagram explaining the monitoring range model Diagram explaining the monitoring range model The figure explaining the process of a determination means Flow chart showing processing in the control unit Diagram representing a location model Diagram showing the location model after the modeling process Diagram showing the rendered image after the rendering process Diagram showing captured image A diagram representing a composite image

  Hereinafter, as one embodiment of the present invention, a monitoring range detection device that a user owns a monitoring range (imaging range) of a monitoring camera that is installed on a wall of a building and that monitors an outdoor monitoring place is used. An example of confirmation will be described with reference to the drawings. That is, the present embodiment is an embodiment in the case where the surveillance camera functions as the monitoring device in the present invention.

FIG. 1 is a schematic diagram for explaining a usage pattern of the monitoring range detection apparatus 1 according to the present embodiment. The surveillance camera 2 is installed on the upper surface of the wall of the building 9 so as to take an image of the surveillance location, captures the surveillance location every predetermined time, and sequentially records the obtained surveillance images on a recording device (not shown). Here, it is assumed that the monitoring range of the monitoring camera 2 is a region 7 illustrated by a one-dot chain line.
As shown in FIG. 1, in this embodiment, the monitoring range detection device 1 is a computer terminal possessed by a user 8. However, the present invention is not limited to this, and the monitoring range detection device 1 may be a wearable computer including a head-mounted display having a computer function. As will be described later, the monitoring range detection device 1 includes an imaging unit and a display unit, and displays the captured image 4 acquired by the imaging unit on the display unit. In addition, when the monitoring range detection device 1 determines that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit, the monitoring range image 116 representing the monitoring range 7 is superimposed on the captured image 4. The composite image 5 is displayed. In addition, although a present Example demonstrates using the example in which only one monitoring camera 2 is installed as shown in FIG. 1, the some monitoring camera 2 may be installed.

  FIG. 2 shows the configuration of the monitoring range detection apparatus 1. The monitoring range detection device 1 has a computer function, and includes a storage unit 11, a control unit 12, an imaging unit 13, a state acquisition unit 14, a display unit 15, and an input unit 16.

  The imaging unit 13 is a so-called camera configured to include an imaging element such as a CCD element or a C-MOS element, optical system components, and the like. In the present embodiment, the imaging unit 13 captures images at predetermined intervals and temporarily stores the captured image 4 in the storage unit 11. The time interval for acquiring the captured image 4 is, for example, 1/5 second.

  The input unit 16 is an information input device such as a keyboard, a touch panel, and a portable storage medium reader. The user 8 can use the input unit 16 to set information regarding various imaging conditions such as the installation position of each monitoring camera 2.

  The state acquisition unit 14 includes various sensors such as a GPS (Global Positioning System), a distance sensor, an electronic compass, and an inclination sensor, and information on the current position and the optical axis (posture) of the imaging unit 13 is provided at predetermined intervals. Is acquired and stored in the storage unit 11.

  In the present embodiment, as position information on the horizontal plane related to the current position of the imaging unit 13, a result (latitude / longitude) obtained by autonomous positioning by GPS is acquired. As for the height information at the current position of the imaging unit 13, a result of measuring a distance from the ground by a distance sensor using an ultrasonic sensor, an infrared sensor, or the like is acquired. For the height information, a fixed value (for example, any value from 1.2 m to 1.7) set in consideration of the height possessed by a person is used without using a distance sensor. May be. In this case, setting is input by the user 8 using the input unit 16.

  In the present embodiment, as information related to the current optical axis of the imaging unit 13, a result obtained by independent measurement by an electronic compass is acquired as an angle with a predetermined direction as a reference, and the imaging unit 13 is obtained from an inclination sensor. Inclination information indicating the degree of inclination with respect to the horizontal plane is detected as an angle. Specifically, as shown in FIG. 3A, the electronic compass of the state acquisition unit 14 is, for example, clockwise with respect to the north direction, 0 ° in the north direction, 90 ° in the east direction, and 180 ° in the south direction. The azimuth angle of the optical axis of the imaging unit 13 is detected as an angle θ, with the west direction being 270 °. Further, as shown in FIG. 3 (b), the inclination sensor of the state acquisition unit 14 is inclined downward with the inclination angle of the optical axis of the imaging unit 13 with respect to the horizontal plane as the angle θ ′. Is detected as an angle −θ ′.

  The storage unit 11 is an information storage device such as a ROM, RAM, or HDD. The storage unit 11 stores various programs and various data, and inputs / outputs such information to / from the control unit 12. The various data includes a location model 111, monitoring condition information 112, imaging condition information 113, a monitoring range model 114, and an imaging range model 115.

  The place model 111 is coordinate information representing a three-dimensional virtual space including three-dimensional shape data created by modeling an object such as a real world wall, ground, or pillar existing at a monitoring place. The three-dimensional shape data in the place model 111 may be created by three-dimensional CAD based on the shape information of the monitoring place, or the data obtained by capturing the three-dimensional shape of the monitoring place using a three-dimensional laser scanner or the like. Also good. The place model 111 created in this way is stored in the storage unit 11 by being set and registered from the input unit 16 by a user or the like.

The monitoring condition information 112 includes installation condition information regarding the installation position and optical axis (monitoring direction) of the monitoring camera 2 at the current time, and angle-of-view condition information (monitoring angle information) regarding focal length, the number of pixels, the pixel size, and lens distortion. And is individually set for each installed surveillance camera 2. The monitoring condition information 112 is set as a value associated with coordinate information in the virtual space of the place model 111.
Here, the installation condition information relating to the installation position of the monitoring camera 2 represents the inside of the monitoring place (real space) as a three-dimensional orthogonal coordinate system, and is the coordinate value of a reference point whose coordinates are known in the orthogonal coordinate system of the real space. This is information expressed as coordinate data calculated using a known technique such as measuring and correcting the relative distance and direction from the reference point. The installation condition information regarding the optical axis of the monitoring camera 2 is information regarding the rotation angle of the optical axis of the monitoring camera 2 with respect to the coordinate axis, and can be obtained from the so-called pan angle and tilt angle of the monitoring camera 2. The monitoring condition information 112 is stored in the storage unit 11 by being set and registered from the input unit 16 by the user 8 or the like at the time of initial setting.

The imaging condition information 113 includes terminal condition information relating to the position and optical axis of the imaging unit 13 at the current time acquired by the state acquisition unit 14, and individually set focal length, pixel count, pixel size, and field angle conditions relating to lens distortion. It consists of information.
Here, the terminal condition information regarding the position of the imaging unit 13 is set as a value obtained by converting the result acquired by the GPS of the state acquisition unit 14 in association with the coordinate information in the virtual space of the place model 111 by the control unit 12. The The terminal condition information related to the optical axis of the imaging unit 13 is obtained by associating the result acquired by the electronic compass and the tilt sensor of the state acquisition unit 14 with the rotation angle of the optical axis of the imaging unit 13 with respect to the coordinate axis by the control unit 12. Set as converted value. Thus, the terminal condition information of the imaging condition information 113 is updated every time information on the current position and the optical axis is acquired by various sensors. Note that the angle-of-view condition information of the imaging condition information 113 is stored in the storage unit 11 by being set and registered from the input unit 16 by the user 8 or the like at the time of initial setting.

  The monitoring range model 114 is three-dimensional shape data modeled after the monitoring range 7 of the monitoring camera 2. The imaging range model 115 is three-dimensional shape data modeled after the monitoring range of the imaging unit 13. The monitoring range model 114 and the imaging range model 115 are generated by the model generation unit 121 of the control unit 12 and stored in the storage unit 11 as described later.

The control unit 12 is an arithmetic device such as a CPU or a DSP, for example, and executes various types of information processing according to programs stored in the storage unit 11. In the present embodiment, the control unit 12 performs a process of determining whether or not the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13. When the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13, the control unit 12 displays the monitoring range image representing the monitoring range 7 of the monitoring camera 2 on the captured image 4 of the monitoring camera 2. A composite image 5 obtained by combining 116 is generated and output to the display unit 15. Further, the control unit 12 performs processing for storing input information such as setting information and operation information from the input unit 16 in the storage unit 11.
The control unit 12 functionally includes a model generation unit 121, a determination unit 122, a rendering unit 123, and a synthesis processing unit 124.

  The model generation unit 121 generates a monitoring range model 114 based on the monitoring condition information 112 and the location model 111 in the storage unit 11, and associates the monitoring range model 114 with the location information on the location model 111 to store the storage unit 11. The modeling process is stored in Further, the model generation unit 121 generates an imaging range model 115 based on the imaging condition information 113 and the location model 111 in the storage unit 11 and stores the imaging range model 115 in association with position information on the location model 111. The modeling process memorize | stored in the part 11 is performed. That is, theoretically, the place model 111 in which the monitoring range model 114 and the imaging range model 115 are arranged can be obtained by the modeling process.

  FIG. 4 illustrates an example of the monitoring range model 114 related to the monitoring camera 2 that captures the ground direction from above the monitoring location. Here, the process of generating the monitoring range model 114 in the model generation unit 121 will be described with reference to FIG. In FIG. 4, reference numerals 111 a and 111 b represent a part of the place model 111, of which 111 a represents the ground and 111 b represents the wall surface of the building 9.

  In generating the monitoring range model 114, the model generation unit 121 first reads the installation position (X, Y, Z) of the monitoring camera 2 from the monitoring condition information 112 of the storage unit 11, and a location model corresponding to the position. The optical center O on 111 is obtained. Further, the model generation unit 121 obtains the optical axis on the place model 111 of the monitoring camera 2 from the optical center O and the installation condition information regarding the optical axis (posture) read from the monitoring condition information 112 of the storage unit 11. . The model generation unit 121 also reads out the monitoring condition information 112 such as the focal length f, the actual size of the CCD pixel, the number of vertical and horizontal pixels of the image and the lens distortion, and the like from the storage unit 11. A projection plane abcd on the model 111 is obtained. Then, a quadrangular pyramid Oa'b'c'd 'passing through the four vertices of the projection surface abcd from the optical center O is generated. The height of the quadrangular pyramid is an arbitrary height that allows at least four vertices (a ′, b ′, c ′, d ′) on the bottom surface of the quadrangular pyramid to penetrate the location model 111. Then, the model generation unit 121 obtains the interference plane ABCD between the square pyramid and the place model 111 by a known geometric calculation, and monitors the three-dimensional shape OABCD including four sides including the interference plane and the head apex of the square pyramid. Obtained as model 114.

  As described above, the shape of the monitoring range model 114 changes depending on the value of the monitoring condition information 112. For example, when the surveillance camera 2 performs a zoom operation, the length of the side of the bottom surface a′b′c′d ′ of the quadrangular pyramid decreases as the focal length f increases, and the size of the interference surface also increases. It changes to be smaller. When the pan / tilt operation is performed on the surveillance camera 2 and the optical axis of the surveillance camera 2 is moved so that the floor 111a and the wall 111b are included in the surveillance range as shown in FIG. The shape of 114 is a three-dimensional shape with OABECDF as a vertex. 4 and 5 show an outline of the monitoring range model 114 when the distortion of the lens is removed.

  In the present embodiment, as described above, the projection plane is obtained using the angle of view condition information including the focal length, the number of pixels, the pixel size, and the lens distortion as the monitoring condition information 112, and the monitoring range model 114 is obtained from the projection plane. Processing for calculation is performed. However, the monitoring range model 114 can be calculated without using the angle-of-view condition information including the focal length, the number of pixels, the pixel size, and the lens distortion. For example, depending on the type of the monitoring camera 2, by setting the horizontal angle (or vertical angle) of the monitoring camera 2, the monitoring range can be uniquely determined from the horizontal angle (or vertical angle) and the aspect ratio of the monitoring camera 2. There is something you can ask for. In such a surveillance camera 2, by setting the horizontal angle (or vertical angle) and the aspect ratio as the angle-of-view condition information, the angle formed by the two opposing side surfaces at the head vertex O of the quadrangular pyramid can be obtained. Therefore, the quadrangular pyramid Oa′b′c′d ′ can be obtained from the same manner as in the above embodiment, and the monitoring range model 114 can be generated.

  The generation process of the imaging range model 115 in the model generation unit 121 is the same process as the generation of the monitoring range model 114 described above, whereas the monitoring range model 114 is generated using the monitoring condition information 112. The imaging range model 115 is generated using the imaging condition information 113. Therefore, detailed description of the processing for generating the imaging range model 115 is omitted here.

  The determination unit 122 performs a process of determining whether or not the monitoring range 7 of the monitoring camera 2 is included in the visual field of the imaging unit 13 based on the monitoring range model 114 and the imaging range model 115 of the storage unit 11. In this embodiment, the determination unit 122 determines whether or not the monitoring range model 114 and the imaging range model 115 intersect on the place model 111 in the three-dimensional virtual space. It is determined that the monitoring range 7 of the monitoring camera 2 is included in the 13 visual fields.

  Here, the processing of the determination unit 122 will be supplementarily described with reference to FIG. In FIG. 6, reference numerals 111 a and 111 b represent a part of the place model 111, of which 111 a represents the ground and 111 b represents the wall surface of the building 9. As shown in FIG. 6A, when the monitoring range model 114 a generated by the model generation unit 121 and the imaging range model 115 a do not intersect, the determination unit 122 includes the monitoring camera 2 within the field of view of the imaging unit 13. It is determined that the monitoring range 7 is not included. On the other hand, as shown in FIG. 6B, when the monitoring range model 114 b generated by the model generation unit 121 and the imaging range model 115 b intersect, the determination unit 122 includes the monitoring camera in the field of view of the imaging unit 13. 2 monitoring range 7 is determined to be included.

  When the determination unit 122 determines that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13, the rendering unit 123 monitors the monitoring range image based on the monitoring condition information 112 and the imaging condition information 113. The process which produces | generates 116 is performed.

  In generating the monitoring range image 116, the rendering unit 123 first performs a process of arranging a virtual camera corresponding to the imaging unit 13 on the place model 111 based on the imaging condition information 113. At this time, the virtual camera is set to obtain a rendering image corresponding to a captured image from the field of view of the imaging unit 13.

  The rendering unit 123 performs a rendering process for virtually capturing the place model 111 in which the monitoring range model 114 is arranged using the virtual camera, and performs a virtual process corresponding to a captured image from the field of view of the imaging unit 13. A process for generating a rendered image that is a correct image is performed. The rendered image generated by the rendering process is temporarily stored in the storage unit 11.

  The composition processing unit 124 performs overlay processing for generating the composite image 5 from the captured image 4 and the rendered image. In the overlay process, the composition processing unit 124 first performs a process of extracting a monitoring range image 116 that is an image area corresponding to the monitoring range model 114 from the rendering image temporarily stored in the storage unit 11. Specifically, the model generation unit 121 sets color information of the monitoring range model 114 as a color different from that of the place model 111 in advance in modeling processing. By doing so, the composition processing unit 124 can extract the image area including the color information from the rendering image as the monitoring range image 116.

  Subsequently, in the overlay process, the composite image 5 is generated by overlaying (superimposing) the monitoring range image 116 on the captured image 4 acquired from the imaging unit 13. At this time, the monitoring range image 116 is made semi-transparent and superimposed so that the user 8 can also see the captured image 4 in the portion hidden in the monitoring range image 116.

  The display unit 15 is an information display device such as a liquid crystal display. The display unit 15 displays the composite image 5 output from the composite processing unit 124. Thus, the user 8 can detect that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13 by viewing the display output from the display unit 15. Further, since the user 8 can grasp the monitoring range 7 of the monitoring camera 2 three-dimensionally from the composite image 5 displayed on the display unit 15, the user 8 can also confirm the appropriateness of the monitoring range 7.

  The display unit 15 is preferably fixedly disposed at a position perpendicular to the optical axis of the imaging unit 13. By doing so, the user 8 can move the display unit 15 together with the imaging unit 13, and further, the line of sight of the user 8 browsing the display unit 15 and the optical axis of the imaging unit 13 can be made to substantially coincide. Therefore, the monitoring range 7 of the monitoring camera 2 can be confirmed from the viewpoint of the user 8.

  Hereinafter, an example of the flow of processing executed by the control unit 12 of the monitoring range detection apparatus 1 according to the present embodiment will be described based on the flowchart of FIG.

  Prior to the operation, various initial settings such as setting of the monitoring condition information 112, the angle of view condition information of the imaging condition information 113, and the registration of the location model 111 are performed by the user or the like using the input unit 16 (S10). In this embodiment, since it is assumed that one monitoring camera 2 is installed in the monitoring place, the monitoring condition information 112 of the monitoring camera 2 is registered by the initial setting. When a plurality of monitoring cameras 2 are installed, the monitoring condition information 112 is registered for each monitoring camera 2. In addition, the following processing will be described on the assumption that the three-dimensional shape data of FIG.

  When the initial setting is completed, the model generation unit 121 repeatedly performs the modeling process for generating the monitoring range model 114 for each monitoring camera 2 and recording it in the storage unit 11 until the processes for all the monitoring cameras 2 are completed. (S12, S14).

  And the model production | generation means 121 reads the imaging condition information 113 acquired by the state acquisition part 14, and memorize | stored in the memory | storage part 11, and implements the modeling process which produces | generates the imaging range model 115 (S16, S18).

  FIG. 9 is a schematic diagram of the place model 111 in which the monitoring range model 114 and the imaging range model 115 are installed after the modeling process. In FIG. 9, the monitoring range detection device 1, the monitoring camera 2, and the user 8 are only shown in FIG. 9 for convenience of explanation in the present specification, as a shape model representing a three-dimensional shape. It is not arranged on the place model 111.

  Next, the determination unit 122 performs determination processing for determining whether or not the monitoring range model 114 and the imaging range model 115 intersect (S20, S22). When the determination unit 122 determines that the monitoring range model 114 and the imaging range model 115 do not intersect (S22-No), the control unit 12 returns the process to step S16 and is acquired by the state generation unit 14 by the model generation unit 121. The modeling process is performed using the latest imaging condition information 113 thus obtained.

On the other hand, when the determination unit 122 determines that the monitoring range model 114 and the imaging range model 115 intersect (S22—Yes), the control unit 12 advances the process to step S24. In step S24, the rendering unit 123 performs a rendering process for generating a rendering image corresponding to the field of view of the imaging unit 13 (S24).
FIG. 10 is a diagram illustrating the rendered image 3 when the virtual image is captured from the virtual camera corresponding to the imaging unit 13 by the rendering process. In FIG. 10, the image area | region of the code | symbol 31 is the monitoring range image 116 corresponding to the monitoring range model 114 in FIG. In FIG. 10, the image areas 32 and 33 are image areas corresponding to the wall surface and floor surface in the place model 111, respectively.

  As described above, the rendering unit 123 performs the rendering process only when the determination unit 122 determines that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13, and therefore, it is necessary to perform an unnecessary rendering process. Therefore, the processing load required for the rendering process can be reduced.

Next, the synthesis processing unit 124 performs overlay processing for generating the composite image 5 by superimposing the captured image 4 acquired by the imaging unit 13 and the monitoring range image 116 extracted from the rendering image 3 generated in step S24. Perform (S26). Then, the composition processing unit 124 performs processing for outputting the composite image 5 generated by the overlay processing to the display unit 15. Thereby, the display unit 15 displays the composite image 5 (S28).
FIG. 11 is a diagram illustrating the captured image 4 acquired from the imaging unit 13. FIG. 12 is a diagram showing the composite image 5 in which the monitoring range image 116 extracted from the rendering image 3 is superimposed on the captured image 4 of FIG. 11 by overlay processing. In FIG. 12, an image area 51 is a monitoring range image 116 extracted from the rendering image 3, and is an image area corresponding to the image area 31 in FIG. 10.

  As described above, the user 8 confirms the monitoring range image 116 on the composite image 5 displayed on the display unit 15, so that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13. Can be detected. Further, since the user 8 can grasp the monitoring range 7 of the monitoring camera 2 three-dimensionally from the composite image 5 displayed on the display unit 15, the user 8 can also confirm the appropriateness of the monitoring range 7.

  The present invention is not limited to the above embodiments, and may be implemented in various different embodiments within the scope of the technical idea described in the claims. Moreover, the effect described in the said Example is not limited to this.

In the above-described embodiment, coordinate information representing a three-dimensional virtual space including three-dimensional shape data obtained by modeling an object such as a real world wall, floor, or pillar existing at a monitoring place is used as the place model 111. However, the present invention is not limited to this, and only the planar shape representing the floor obtained from the installation height of the monitoring camera 2 may be used as the three-dimensional shape data of the object in the place model 111. That is, the model generation unit 121 regards the monitoring place as a virtual space composed only of a plane (ground), and based on the monitoring condition information 112 and the imaging condition information 113, the monitoring range model 114 and the imaging on the floor surface that is a virtual space. A process for generating the range model 115 is performed. At this time, the model generation unit 121 calculates an interference plane by geometrically calculating interference between a three-dimensional shape such as a quadrangular pyramid representing a monitoring range of the monitoring camera (or an imaging range of the imaging unit) and the floor surface. A monitoring range model 114 (or an imaging range model 115) is generated.
As a result, the monitoring range model 114 (or the imaging range model 115) cannot be generated in consideration of interference with an object such as a wall, and concealment by the object is not considered. And the accuracy of the monitoring range reproduced and displayed on the composite image will be reduced. However, the monitoring range model 114 (or the imaging range model 115) can be easily generated, and a rendering image can be easily generated. As a result, the calculation amount of the monitoring range detection apparatus 1 is reduced. be able to. In addition, since the time-consuming initial setting such as setting the three-dimensional shape data of the place model 111 in the storage unit 11 in advance can be omitted, the user can easily use the monitoring range detection device 1 and the convenience is improved. Will be.

  Similarly, a place model 111 representing a three-dimensional virtual space not including the three-dimensional shape data of the object may be used. In this case, since the monitoring range model 114 (or the imaging range model 115) does not consider any interference with the floor surface, as a result, the accuracy of detecting the monitoring range and the reproduction display on the composite image are performed. The accuracy of the monitoring range will be further reduced. However, since the amount of calculation of the monitoring range detection apparatus 1 can be suppressed most, it is useful when it is desired to detect or reproduce the monitoring range easily.

In the above embodiment, the determination unit 122 determines whether or not the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13, and based on the determination result, the rendering unit 123 outputs the image from the imaging unit. A rendering image corresponding to the field of view is generated, and a composition processing unit 124 performs processing to output a composite image obtained by combining the captured image 4 and the rendering image. However, the present invention is not limited to this, and a configuration in which the determination result by the determination unit 122 is displayed on the display unit 15 without outputting the composite image 5 may be used. That is, when the determination unit 122 determines that the monitoring range 7 of the monitoring camera 2 is included in the field of view of the imaging unit 13, for example, “monitoring of the monitoring camera within the imaging range of the imaging unit” is performed on the display unit 15. Processing to display a message such as “the range is included” may be performed.
As a result, the user cannot visually confirm the monitoring range 7 of the monitoring camera 2 by the composite image 5 as in the above embodiment, while the monitoring range of the monitoring camera 2 is within the field of view of the imaging unit 13. Since it is possible to detect that it is included, it is effective, for example, when it is desired to simply detect whether or not the monitoring range of the monitoring device exists in front of itself.

  The said Example is an Example at the time of the surveillance camera 2 functioning as a monitoring apparatus in this invention. However, the present invention is not limited to this, and an infrared sensor that detects the presence / absence of a person based on a change in the amount of received infrared light emitted from the person may function as the monitoring device of the present invention. In this case, the monitoring condition information 112 of the storage unit 11 stores sensor installation condition information regarding the installation position and monitoring direction of the infrared sensor, and monitoring angle information that defines the monitoring range (detection range) of the sensor. The monitoring range model 114 of the storage unit 11 stores three-dimensional shape data that is modeled by imitating the monitoring range of the infrared sensor, generated by the model generation unit 121 of the control unit 12. The finally output composite image is output as an image processed to superimpose an image region representing the monitoring range of the infrared sensor on the captured image 4 acquired by the imaging unit 13, that is, the monitoring range image. . In addition to the above infrared sensor, a spatial sensor that can uniquely define a monitoring range by setting installation condition information and monitoring angle information such as a microwave sensor and an ultrasonic sensor may be used.

DESCRIPTION OF SYMBOLS 1 ... Monitoring range detection apparatus 2 ... Surveillance camera 3 ... Rendering image 4 ... Captured image 5 ... Composite image 7 ... Monitoring range 8 ... User 9 ... Building 11 ... Storage unit 12 ... Control unit 13 ... Imaging unit 14 ... Status acquisition unit 15 ... Display unit 16 ... Input unit 111 ... Location model 112 ... Monitoring condition information 113 ... Imaging condition information 114 ... Monitoring range model 115 ... Imaging range model 116 ... Monitoring range image 121 ... Model generation means 122 ... Determination means 123 ... Rendering means 124 ... Synthetic processing means

Claims (4)

A monitoring range detection device for detecting a monitoring range of a monitoring device,
An imaging unit for acquiring a captured image;
A state acquisition unit for acquiring a current position and an optical axis of the imaging unit;
A place model expressing a place monitored by the monitoring device as a three-dimensional virtual space; monitoring condition information in which the installation position, the monitoring direction, and the monitoring angle information of the monitoring device are associated with the place model; A storage unit that stores imaging condition information in which an angle of view and the current position and optical axis of the imaging unit acquired by the state acquisition unit are associated with the place model;
An imaging range model that generates a monitoring range model that represents a monitoring range of the monitoring device based on the location model and the monitoring condition information, and that represents an imaging range of the imaging unit based on the location model and the imaging condition information Model generation means for generating
Determination means for determining that the monitoring range of the monitoring device is included in the field of view of the imaging unit when the monitoring range model and the imaging range model intersect;
A display unit for displaying a determination result by the determination unit;
A monitoring range detection device comprising: The monitoring range detection apparatus according to claim 1, wherein the place model represents a three-dimensional virtual space including an object existing at the place .
Furthermore, when the determination unit determines that the monitoring range of the monitoring device is included in the field of view of the imaging unit, it corresponds to the field of view of the imaging unit using the monitoring range model and the imaging condition information Rendering means for generating a rendered image to be
Synthesis processing means for outputting a synthesized image obtained by synthesizing the captured image acquired by the imaging unit and the rendering image;
The monitoring range detection apparatus according to claim 2, wherein the display unit displays the composite image. The monitoring range detection device according to claim 1, wherein the display unit is fixedly disposed at a position perpendicular to the optical axis of the imaging unit.

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