CERTIFICATION
`
`I,
`
`Takayoshi Hongo,
`
`Toranomon East Bldg., No.
`
`7-13,
`
`Nishi—Shimbashi
`
`l-chome, Minato-ku, Tokyo, Japan, do hereby
`
`certify that I
`
`am conversant with the English and Japanese
`
`languages and am a competent translator thereof, and I further
`
`certify that to the best of my knowledge and belief the attached
`
`English translation is a true and accurate translation made
`
`byrmaoftheJapaneseUnexaminedPatentApplicationPublication
`
`JP 11-261868 published on September 24, 1999.
`
`Signed this on the 20th day of March, 2014
`
`_gZ_____{d"f_7’_L?_’V:_____________________
`
`Takayoshi Hongo
`
`Panasonic Exhibit 1012 Page 1 of 34
`
`

`

`(19) Japan Patent Office (JP)
`
`Kawasaki-shi， Kanagawa-ken
`
`(12) Japanese Unexamined Patent Application Publication (A)
`
`(72) Inventor: Takabumi ENAM工
`
`c/o Fujitsu Corporation， 4-1-1，
`
`Kamikodanaka， Nakahara-ku，
`
`Kawasaki-shi， Kanagawa-ken
`
`(74) Agent: Shoji 貼 SHIWATAN工 (and two others) tPa~ént
`
`Attorney)
`
`(11) Publication No.: 11・261868
`
`(43) Daヒe of Publication: September 24， 1999
`
`(5工) Int. Cl.':
`
`H04N 5/225
`
`5/765
`
`5/781
`
`7/18
`
`Domestic Classification Symbol
`
`F工
`
`H04N 5/225 Z
`
`D
`
`7/18 K
`
`5/781 520C
`
`520B
`
`S20A
`
`Request for Examination: None
`
`Number of Claims: 18
`
`OL (17 pages)
`
`(21) Application No.: 10-62531
`
`(22) Date of filing: March 13， 1998
`
`(71) Applicant: 000005223
`
`Fujitsu Corporation
`
`4-1-1， Kamikodanaka， Nakahara-ku，
`
`Z
`
`2
`
`

`

`(54) [Title of the工nvention) F工SHEYELENS CAMERA APPARATUS，
`
`AND lMAGE DISTORTION CORRECTION METHOD AND工MAGEEXTRACT工ON
`
`[Claims)
`
`[Claim 1)
`
`METHOD THEREFOR
`
`(57) [Abstract)
`
`A fisheye lens camera apparatus comprising:
`
`an image co工工ection processing unit that corrects
`
`[Objectl The present invention relaヒes to a fisheye lens
`
`distortion of an image captured by a fisheye 1ens camera，
`
`camera apparatus， and an image distortion correction method
`
`wherein the image correction processing unit operates
`
`and an image extraction method therefor， in which an image
`
`coordinaヒeヒransformfor co工工ectingan installation angle of
`
`deformaヒionprocess of correcting distortion of a fisheye lens
`
`ヒhefisheye lens camera and coordinate transform for correcting
`
`image is performed at high speed in a case where a fisheye lens
`
`distortion of a fi5heye lens image in combination with each
`
`camera is installed at any installation angle， and a moving
`
`figure such as a person' s figure is detected and is extracted
`
`other.
`
`[Claim 2)
`
`accurately 50 as to be displayed on a monitor television or
`
`The fisheye lens camera apparatus according to claim 1，
`
`the like with high accuracy.
`
`wherein the image correction proces5ing unit operates
`
`ISolving阿eansl A confi9l.lration is provided in which an image
`
`coordinate transform for correcting distortion of a fisheye
`
`captured by a fi5heye lens 1・1and a CCD imaging device 1-2
`
`len5 image of equal area mapping.
`
`i5 stored in a picture memory 1・3，and an image correction
`
`IClaim 3)
`
`proces5ing unit 1-4 operates coordinate tran5form for
`
`A fisheye lens camera apparatus comprising:
`
`correcting an installation angle of a fisheye lens camera and
`
`an image correction processing unit that corrects
`
`coordinate transform for correcヒingdistortion of a fisheye
`
`distortion of an image captured by a fisheye lens camera，
`
`lens image in combination with each other， and a fisheye lens
`
`wherein parameters for correcting distortion of a
`
`image of equal area projection is transformed through mapping
`
`fisheye lens image， such as a central position of a displayed
`
`at high speed. In addition， a configuration is provided in
`
`image， an aspect ratio of the fi5heye lens image， and a radius
`
`which weighting corresponding to a region in the fisheye lens
`
`of a fisheye lens image area， are extracted from the captured
`
`image i5 performed， a feature amount of a person's figure or
`
`fisheye lens image itself， and distortion of the fisheye lens
`
`the like i5 extracted， and a display area is exヒracted.
`
`image is corrected using the parameters.
`
`3
`
`品
`
`

`

`!Claim 4)
`
`fisheye lens image is scanned， so as to extract regions of a
`
`A fisheye lens camera apparatus which extracts a moving
`
`plurality of moving figures from a picture of a circular fisheye
`
`figure from an image captured by a fisheye lens camera， wherein
`
`regions are unified using a mutual positional relationship in
`
`lens image.
`
`[Claim 7]
`
`a fisheye lens image so as to extract a region in which the
`
`A fisheye lens camera apparatus which extracts a moving
`
`figure varies.
`
`[Claim 5)
`
`figure from an image captured by a fisheye lens camera， wherein，
`
`in relation to regions of a plurality of persons' figures
`
`A fisheye lens camera apparatus which extracts a moving
`
`obtained from a picture of a fisheye lens image， a shape of
`
`figure from an image captured by a fisheye lens camera， wherein
`
`each person's figure is normalized， color information in the
`
`a fisheye lens image isヒransformedinto a transversely long
`
`shape of each figure is stored， and a picture for individually
`
`picture having a panorama form， a signal of an inter-frame
`
`tracking a plural主ty of moving persons' figures is created
`
`difference of the picture or a signal in which an inter-frame
`
`based on the color information of each figure.
`
`difference and an in-fram巴 differenceare combined is extracted，
`
`[Claim 8)
`
`a region is extracted using the signal， and regions of a
`
`A fisheye lens camera apparatus which extracts a moving
`
`plurality of moving figures are extracted together.
`
`figure from an image captured by a fisheye lens camera， wherein
`
`!Claim 6)
`
`a region is extracted based on a feature amount multiplied by
`
`A fisheye lens camera apparatus which extracts a moving
`
`weighting factors which are different depending on an extent
`
`figure from an image captured by a fisheye lens camera， wherein
`
`of distortion of a cenヒralparヒ anda peripheral part of the
`
`an operation of extracting a feature amount of a signal of an
`
`fisheye lens image
`
`inヒer-frame difference， a signal in which an inter-frame
`
`[Claim 9)
`
`difference and an in-frame difference are combined， or the like
`
`The fisheye lens camera apparatus according to claim 8，
`
`is performed based on a picture of a fisheye lens image， and，
`
`wherein a non-extracヒedregion is masked by further giving a
`
`in a region extraction process for a feature detecヒionregion，
`
`different value thereto as the weighting factor so as to
`
`address transform between polar coordinates and orthogonal
`
`correspondヒothe region in a picture of the fisheye lens image，
`
`coordinates is performed and inside of the picture of the
`
`and the region is extracted.
`
`E
`
`畠
`
`

`

`[Claim 10)
`
`[Claim 131
`
`An image distortion correction method for a fisheye lens
`
`An image extraction method for a fisheye lens camera，
`
`camera， of correcting distortion of an image captured by the
`
`of extracting a moving figure from an image captured by the
`
`fisheye lens camera， comprising:
`
`fisheye lens camera， comprising:
`
`a step of operating coordinate transform for correcting
`
`a step of unifying regions using a mutual positional
`
`an installation angle of the fisheye lens camera and coordinate
`
`relationship in a fisheye lens image so as to extract a region
`
`transform for correcting distortion of a fisheye lens image
`
`in which the figure varies.
`
`in combination with each other.
`
`[Claim 141
`
`[Claim ll)
`
`An image extraction method for a fisheye lens camera，
`
`The image distortion correction method for the fisheye
`
`of extracting a moving figure from an image captured by the
`
`lens camera， of correcting distortion of the image captured
`
`fisheye lens camera， cαnprising:
`
`by the fisheye lens camera according to claim 10， wherein the
`
`a step of transforming a fisheye lens image into a
`
`step of operating coordinate transform includes a step of
`
`transversely long picture having a panorama form， extracting
`
`operating coordinate transform for correcting distortion of
`
`a signal of an inter-frame difference of the picture or a signal
`
`a fisheye lens image of equal area mapping.
`
`in which an inter-frame difference and an in-frame difference
`
`[Claim 12)
`
`are combined， extracting a region using the signal， and
`
`An image distortion correction method for a fisheye lens
`
`extracting regions of a plurality of moving figures together.
`
`camera， of correcting distortion of an image capヒuredby the
`
`[Claim 151
`
`fisheye lens camera. comprising:
`
`An image extraction method for a fisheye lens camera，
`
`a step of extracting parameters for correcting
`
`of extracting a moving figure from an image captured by the
`
`distortion of a fisheye lens image， such as a central position
`
`fisheye lens camera， comprising:
`
`of a displayed image. an aspect ratio of the fisheye lens image，
`
`a step of performing an operation of extracting a feature
`
`and a radius of a fisheye lens image area. from a captured
`
`amount of a signal of an inter-frame difference， a signal in
`
`fisheye lens image itself， and correcting distortion of the
`
`which an inter-frame difference and an in-frame difference are
`
`fisheye lens image using the parameters.
`
`combined， or the 1 ike based on a picture of a fisheye lens image，
`
`.，
`
`自
`
`

`

`and performing address transform between polar coordinates and
`
`The image extraction method for the fisheye lens camera
`
`orthogonal coordinates and scanning inside of the picture of
`
`according to claim 17， wherein the step of extracting a region
`
`the fisheye lens image. in a region exヒractionprocess for a
`
`includes a step of masking a non-extracted region by further
`
`feature detection region. so as to extracヒ regions of a
`
`giving a different value thereto as the weighting factor so
`
`plurality of moving figures from a picture of a circular fisheye
`
`as to correspond to the region in the picture of the fisheye
`
`lens image.
`
`[Claim 161
`
`lens image. and extracting the region.
`
`[Detailed Description of the 工nvention)
`
`An image extraction method for a fisheye lens camera.
`
`[00011
`
`of extracting a moving figure from an image captured by the
`
`[Technical Field of ヒhe Invenヒion]
`
`fisheye lens camera. comprising:
`
`The present invention relates to a fisheye lens camera
`
`a step of normalizing a shape of each person's figure，
`
`apparatus. and an image distortion correction method and an
`
`storing color information in the shape of each figure， and
`
`image extraction method therefor. and parヒicularlyto a fisheye
`
`creating a picture for individually tracking a plurality of
`
`lens camera apparatus. and an image distortion correction
`
`moving persons' figures based on the color information of each
`
`method and an image extraction method therefor in a video
`
`figure. in relation to regions of a plurality of persons'
`
`conference system. a remote monitoring system. or the like
`
`figures obtained from a picture of a fisheye lens image.
`
`which captures an image with a fisheye lens came工a and cuts
`
`!Claim 17]
`
`a part of the image so as to be displayed on a monitor television.
`
`An image extraction method for a fisheye lens camera，
`
`[0002)
`
`of extracting a moving figure from an image captured by the
`
`A fisheye lens has an angle of view of about 180 degrees
`
`fisheye lens camera. comprising:
`
`and projects an image of a wide range. but the image is distorted
`
`a sヒepof extracting a region based on a feature amount
`
`in a barrel form， and. particularly. the distortion is notable
`
`multiplied by weighting factors which are different depending
`
`in a peripheral part thereof. The present invention is to use
`
`on an extent of distortion of a central part and a peripheral
`
`the fact that an imaging range of the fisheye lens is wide，
`
`part of the fisheye lens image.
`
`[Claim 18)
`
`and to cut an attentional part of an image in the image captured
`
`by a single fisheye lens camera so as to correct distortion
`
`ヲ
`
`10
`
`

`

`of the image， thereby displaying the corrected image on a
`
`indicates a picture memory (frame memory)， the reference
`
`monitor television screen.
`
`[0003)
`
`numeral13-4 indicates an image correction processing circuit，
`
`and the reference numeral 13・5 indicates a corrected picture
`
`In addition， the present invention is to detect a figure
`
`(NTSC) output ci工cuit.
`
`that has movements such as a person intruding in a picture which
`
`[0006)
`
`is taken through reflection by a fisheye lens camera， to
`
`The fisheye 1ens 13・1 optical1y projects an object at
`
`automatically determine a monitor display region (cut region)
`
`an ang1e of view of about 180 degrees， the CCD imaging device
`
`of the figure so as to track the moving figure， and is to be
`
`13・2 generaヒes an electrical image signal from the optical
`
`appropriately used in a camera apparatus of a remote monitoring
`
`picture， and the picture memory (frame memory) 13-3 stores the
`
`system or a video conference system.
`
`image signal in the frame unit.
`
`[0004)
`
`[Related ArtJ
`
`[0007J
`
`The image correction processing circuit 13-4 corrects
`
`Fig. 13 is a diagram illustrating a configuration of a
`
`a distorヒed image of the fisheye lens so as to recover an
`
`fisheye lens camera apparatus in the工elatedart， and a remote
`
`origina1 image with respect to a monitor disp1ay region， and
`
`monitoring system and a video conference system using the same.
`
`the corrected picture (NTSC) output circuit 13-5 outputs the
`
`Fig. 13(a) shows a configuration of the fisheye lens camera
`
`corrected image signal as a no工maltelevision picture signal
`
`apparatus， Fig. 13 (b) shows the remote monitoring system using
`
`of an NTSC format or the 1ike.
`
`the fisheye lens camera apparatus， and Fig. 13(c) shows the
`
`!OOOSJ
`
`video conference system using the fisheye lens camera
`
`Since the f isheye lens has a wide ang1e of view， a remote
`
`apparatus.
`
`[0005J
`
`monitoring system or a video conference system which obtains
`
`pictures of areas with a wide range can be constituted by a
`
`In the same figures， the reference numeral 13 -10
`
`camera apparatus using the lens. As shown in Figs. 13(b) and
`
`indicates the fisheye 1ens camera apparatus， the reference
`
`13 (c)， the system can be configured by the fisheye 1ens camera
`
`numeral 13-1 indicates a fisheye lens， the reference numeral
`
`apparatus 13・10in which an encoding device 13-20 is insta11ed，
`
`13-2 indicates a CCD imaging device， the refe工encenumeral13-3
`
`or a fisheye lens camera apparatus 13-30 with an encoding device
`
`11
`
`12
`
`

`

`by transmitヒinga picture signa1 via a public network 13・40，
`
`The virtual image frame 14-1 is a frame on a virtual plane
`
`and by displaying the image signal on a monitor television
`
`perpendicular to a direction of view vector DOV (Direction of
`
`screen 13-60 or the like via a decoding device 13-50. However，
`
`View) from the position (origin) of the fisheye lens toward
`
`since the fisheye lens has a wide ang1e of view， distortion
`
`a object to be photographed and has a rim with a predetermined
`
`of a picture is large， and thus the distortion is required to
`
`size， and a picture in this range is cut from a fisheye lens
`
`be corrected for display on the monitor television screen 13・60
`
`image and is displayed on the monitor television screen as
`
`or the like.
`
`[0009)
`
`described below. 工nother words， the frame has a rim wi th the
`
`same size as that of a rim of a display frame of ヒhemonitor
`
`Fig. 14 is an explanatory diagram of correction of
`
`te1evision or the like.
`
`distortion of a fisheye lens camera image in the related art
`
`[0012)
`
`In the same figure， the reference numeral 14-1 indicates a
`
`In addition， ヒhe image frame 14・1 includes
`
`virtual image frame， the reference numeral 14-2 indicates a
`
`two-dimensional coordinate axes (p， q) which have a point
`
`virtual hemispherical face， and the reference numeral 14-3
`
`intersecting the direction of view vector DOV inヒheframe as
`
`indicates a fisheye lens imaging screen. 工n addition， it is
`
`an origin， and a point in the virtual image frame 14-1 is
`
`assumed that the fisheye lens is located at the origin 0 of
`
`expressed by the coordinate components (p，q).
`
`a three-dimensional space indicated by x， y and z axes， and
`
`[0013)
`
`the fisheye lens is located facing ヒhe z axis direction.
`
`A figure (fisheye lens image) projecヒedby the fisheye
`
`(0010)
`
`lens is classified into several types depending on a projection
`
`工n addition， if the virtual hemispherical face 14-2 is
`
`formula of the lens， and， hereinafter， an orthographic
`
`an orthographic projection formula lens， and a focal length
`
`projection formula fisheye lens will be described.
`
`thereof is f， the hemispherical face is a hemispherical face
`
`[0014)
`
`of a virtual hemisphere with a radius f， and a planar part
`
`It is assumed that a figure which is viewed through the
`
`thereof is located on the x-y plane， and a center thereof is
`
`virtual hemispherical face 14-2 from the position (the origin
`
`located at ヒheposition of the origin O.
`
`0) at which the fisheye lens is located is attached to the
`
`(0011)
`
`virtual hemispherical face 14・2as it is. 工naddition， a figure
`
`13
`
`1咽
`
`

`

`in which the figure on the three-dimensional space attached
`
`displayed frame is assumed as the virtual image frame 14-1.
`
`to the hemispherical face 14-2 is vertically (from the z
`
`[0018]
`
`direction toward the origin) crushed and attached onto a plane
`
`工tis assumed that the direction of the z axis in which
`
`of a two-dimensional space formed by the x axis and y axis of
`
`the fisheye lens is oriented is an upper direction of the
`
`the figure is an image of the orthographic projection formula
`
`vertical line， a vertex angle (zenith angle) formed by the
`
`fisheye lens.
`
`[0015]
`
`Further， an image of the fisheye lens is actually formed
`
`direction of view vector DOV and the z axis is seヒ to中， and
`
`an azimuth angle formed with a reference axis (the x axis or
`
`the yaxis) of the horizonヒalplane is set to e. 工naddition，
`
`at vertically and horizontally reversed posi tions， but a
`
`a focal length (a radius of the circle of the fisheye lens image)
`
`relative relationship of a distortion of the figure does not
`
`is set to f， a rotation angle of an image frame is set toω ，
`
`vary， and， thus， for simplification of description， it is
`
`and a magnification ratio is set to m. The magnification ratio
`
`assumed that an image is formed as described above.
`
`m is m~D/f when a distance from the position (the origin 0)
`
`[0016]
`
`of the fisheye lens to the origin in the image frame 14・ 1 is
`
`A plane of the two-dimensional space obtained by
`
`vertically crushing the figure onヒhehemispherical face 14-2
`
`set to D.
`
`[0019]
`
`is the fisheye lens imaging sc工een14・ 3，and an image inside
`
`A correspondence relationship between a point (x，y) in
`
`the circle of the fisheye lens imaging screen 14・3is an imag巴
`
`the fisheye lens imaging plane 14-3 and a point (p，q) in the
`
`captured by the fisheye lens. The outer rectangular rim is
`
`image frame 14-1 is expressed by a relation of Equation (1).
`
`an outside line of the enヒireimaging screen obtained from the
`
`CCD imaging device.
`
`[(川 17]
`
`since an image of the fisheye lens is distorted， if an
`
`image captured by the fisheye lens camera is to be displayed，
`
`a part thereof is required to be cut so as to be corrected to
`
`a normal image. Therefore， a frame corresponding to a
`
`(0020)
`
`[Equation 1]
`
`lf>
`
`J，晶
`
`

`

`[0023]
`
`The color information transmission operation between the
`
`picture rnernories is performed for all points (p， q) in the image
`
`frame 14-1 so as to sequentially send a color information signal
`
`to the corrected picture (NTSC) output circuit 13・5from the
`
`outpuヒpicturememory， and thus the corrected picture (NTSC)
`
`output circuit 13-5 can display an image of a rea1 object target
`
`x=
`
`} -{ •
`
` • •
`
`RjpC-qD-m1uin ;sin8 }
`
`Y- .w+イ+m'R'
`
`A=ω個 師 ω58-sinωsin 8cos ~)
`B~(5inωcos8 +∞sωsin 8cos.;)
`C=(cosω 曲 11+由 幽CD58∞s;)
`D=(sio剖 sin8-CDSωω$8∞5;)
`
`[0021]
`
`A distortion of the fisheye lens image is corrected using
`
`without distortion when viewed through the rirn of the virtual
`
`the correspondence relationship of Equation (1) so as to
`
`image frame 14-1 from the origin O. (Referヒothespecification
`
`recover an original image which can be displayed on the monitor
`
`of U.S. Patent No. 5，185，667， and the like.)
`
`television screen. 工noヒherwords，first， the image frame 14-1
`
`[0024]
`
`is localized， and a region (cut region) displayed on the rnonitor
`
`[Problems to be Solved by the 工nvention]
`
`is determined. This localization ope工ation is set by
`
`The above-described distortion correction of a fisheye
`
`inputting a vertex angle 41， an azimuth angle 8， a rotation angle
`
`lens irnage is a correction when a targeted fisheye lens forms
`
`41， and a magnification ratio m to the image correction
`
`an orthographic projecヒion figure， and an operation of
`
`processing circuit 13-4 frorn an external device.
`
`coordination transform is more complex in a fisheye lens which
`
`[【)022]
`
`forms a figure of the equal area mapping and is frequently used
`
`The image correction processing circuit 13・4obtains the
`
`as an actual fisheye lens.
`
`point (x，y) in the fisheye lens irnaging plane 14-3
`
`[0025]
`
`corresponding to the point (p， q) in the image frame 14 -1 using
`
`In the operation of the distortion correction of a
`
`the relation of Equation (1)，工eadsa color information signal
`
`fisheye lens image， an operation of coordinate transform for
`
`of the point from the picture memory (frame memory) 13-3， and
`
`each coordinate point 0王adisplayed image frarne is performed，
`
`writes the color information signal to an output picture memory
`
`and thus an operation amount is enormous， and if a resolution
`
`(not shown) having an address corresponding to the poinヒ (p，q)
`
`of an image inc工eases，an operation amount further increases.
`
`in the image frame 14-1.
`
`Thus， an amount of the operation of coordinate transform is
`
`11
`
`1匝
`
`

`

`required to be as small as possible.
`
`of the CCD imaging device， which is a picture parameter of the
`
`(0026)
`
`fisheye lens camera， is required to be manually performed
`
`In addition， since the above-describ巴d distortion
`
`[0029]
`
`correction of a fisheye lens image is performed on the premise
`
`工naddition， in a tracking type remote monitoring system
`
`that the fisheye lens camera is vertically located， for example，
`
`using the fisheye lens camera， detection of a person' 5 figure
`
`being installed on a desk so as to be directly oriented toward
`
`or the like and determination of a monitor display region (cut
`
`a ceiling， or being installed on a cei ling so as to be directly
`
`工egionl are 工equired to be automatically performed， but a
`
`oriented toward a floo工， the fisheye lens camera cannot be
`
`method of merely determining a monitor display region (cut
`
`installed through free selection of an installation angle
`
`regionl using a difference between frames of a fisheye lens
`
`thereof. On the other hand， if the fisheye lens camera is
`
`image is limited to detection in a case where a moving object
`
`installed on a wall sideways or is installed at a tilt angle
`
`is only one， and， in a case where a plurality of objects move
`
`at the corner of a ceiling， there are many cases where an imaging
`
`in the region， pictures for tracking the respective objects
`
`region such as a monitoring region is included in a more
`
`cannot be created.
`
`effective imaging area of a fisheye lens image.
`
`[0030]
`
`[0027]
`
`In addition， a fisheye lens image has a difference in
`
`Further， a picture taken using the fisheye lens camera
`
`brightness or in an extent of distortion between a central part
`
`actually varies depending on characterisヒicsof an individual
`
`and a peripheral part thereof， and thus has a disadvantage in
`
`fisheye lens came工a. This difference in the characteristics
`
`that an image displayed on the monitor also becomes unnatural
`
`of the fisheye lens camera is left as an image distortion in
`
`according to a variation in a cut region on tracking.
`
`a converted image and is display巴d even if image transform is
`
`(0031)
`
`performed using distortion correction of a fisheye lens image.
`
`An object of the present invention is to perform an image
`
`[0028]
`
`deformation process of distortion co工工ectionof a fisheye lens
`
`In the related art， correction of horizontal deviaヒion
`
`image at high speed in a case where a fisheye lens camera is
`
`of a fisheye lens image in an imaging screen of the CCD image
`
`installed at any installation angle， and to detect and extract
`
`device or correction of an aspect ratio caused by a structure
`
`a moving figure such as a person's figure captured by the
`
`13
`
`20
`
`

`

`fisheye lens camera with high accuracy. so as to be displayed
`
`工naddition. (4) in a fisheye lens camera apparatus which
`
`on a monitor television or the like with high accuracy.
`
`extracts a moving figure from an image captured by a fisheye
`
`[0032]
`
`lens camera. regions are unified using a mutual positional
`
`[Means for Solving the Problems]
`
`relationship in a fisheye lens image so as to extract a region
`
`A fisheye lens camera apparatus of the present invention
`
`in which the figure varies.
`
`includes (1) an image correction processing unit thaヒcorrects
`
`[0035]
`
`distortion of an image captured by a fisheye lens camera. in
`
`Further. (5) in a fisheye lens camera apparatus which
`
`which the image correction processing uni t operates coordinate
`
`extracts a moving figure from an image captured by a fisheye
`
`transform for correcting an installation angle of the fisheye
`
`lens camera. a fisheye lens image is transformed into a
`
`lens camera and coordinate transform for correcting distortion
`
`transversely long picture having a panorama form. a signal of
`
`of a fisheye lens image in COmbination with each other. In
`
`an inter-frame difference of the picture or a signal in which
`
`addition. (2) the image correction processing unit operates
`
`an inter-frame difference and an in-frame difference are
`
`coordinate transform for correcting distortion of a fisheye
`
`combined is extracted. a region is extracted using the signal.
`
`lens image of equal area mapping.
`
`and regions of a plurality of moving figures are extracted
`
`[0033]
`
`Further. (3) in a fisheye lens camera apparatus including
`
`together.
`
`[0036]
`
`an image correction processing unit that corrects distortion
`
`工naddition. (6) in a fisheye lens camera apparatus which
`
`of an image captured by a fisheye lens camera. parameters for
`
`extracts a moving figure from an image captured by a fisheye
`
`correcting distortion of a fisheye lens image. such as a central
`
`lens camera. an operation of extracting a feature amount of
`
`position of a displayed image. an aspect ratio of the fisheye
`
`a signal of an inter-frame difference. a signal in which an
`
`lens image. and a radius of a fisheye lens image area. are
`
`inter-frame difference and an in-frame difference are combined.
`
`extracted from the captured fisheye lens image itself. and
`
`or the like is performed based on a picture of a fisheye lens
`
`distorヒionof the fisheye lens image is corrected using the
`
`image. and. in a region extraction process for a feature
`
`parameters.
`
`[0034]
`
`detection region. address transform between polar coordinates
`
`and orthogonal coordinates is performed and inside of the
`
`31
`
`22
`
`

`

`picture of the fisheye lens image is scanned， so as to extract
`
`fisheye lens camera of the present invention， (10) of
`
`regions of a plurality of moving figures from a picture of a
`
`correcting distortion of an image captured by the fisheye lens
`
`circular fisheye lens image.
`
`camera， includes a step of operating coordinate transform for
`
`[0037)
`
`correcting an installation angle of the fisheye lens camera
`
`Further， (7) in a fisheye lens camera apparatus which
`
`and coordinate transform for correcting distortion of a fisheye
`
`extracts a moving figure from an image captured by a fisheye
`
`lens image in combination with each other. Further， (11) in
`
`1ens camera， in relation to regions of a plurality of persons'
`
`the image distortion correction for a fisheye lens camera， the
`
`figures obtained from a picヒureof a fisheye lens image， a shape
`
`step of operating coordinate transform includes a step of
`
`of each person's figure is normaliz巴d，color information in
`
`operating coordinate transform for correcting distortion of
`
`the shape of each figure is stored， and a picture for
`
`a fisheye lens image of equal area mapping in correcting
`
`individuallyヒrackinga pluraliヒYof moving persons' figures
`
`distortion of an image captured by the fisheye lens camera.
`
`is created based on the color information of each figure.
`
`(0040)
`
`[0038]
`
`In addition， an image distortion correction method for
`
`工naddition， (8) in a fisheye lens camera apparatus which
`
`a fisheye lens camera， (12) of correcting distortion of an image
`
`extracts a moving figure from an image captured by a fisheye
`
`captu工ed by the fisheye lens camera， includes a step of
`
`1ens camera， a region is extracted based on a feature amount
`
`extracting parameters for correcting distortion of a fisheye
`
`multipli巴dby weighting factors which are different depending
`
`lens image. such as a central position of a displayed image.
`
`on an extent of distortion of a central part and a peripheral
`
`an aspect ratio of the fisheye lens image， and a radius of a
`
`part of the fisheye lens image. Furthe工， (9) a non-extracted
`
`fisheye lens image area， from a captured fisheye lens image
`
`region is masked by further giving a different value thereto
`
`itself. and correcting distortion of the fisheye lens image
`
`asヒheweighヒingfactor so as to correspond to the region in
`
`using the parameters. in correcting distortion of an image
`
`a picture of the fisheye lens image， and ヒhe region is
`
`captured by the fisheye lens camera.
`
`extracted
`
`[0039]
`
`[0041]
`
`Further. an image extraction method for a fisheye lens
`
`Further. an image distortion correction method for a
`
`camera of the pr巴sentinvention， (13) of extracting a moving
`
`n
`
`2~
`
`

`

`figure from an image captured by the fisheye lens camera，
`
`detection region， so as to extract regions of a plurality of
`
`includes a step of unifying regions using a mutual positional
`
`moving figures from a picture of a circular fisheye lens image.
`
`relationship in a fisheye lens image so as to extract a region
`
`(0044)
`
`in which the figure varies.
`
`(0042)
`
`工n addition， (16) an image exヒraction method of
`
`extracting a moving figure from an image captured by the fisheye
`
`In addition， (14) an image extraction method of
`
`lens camera includes a step of normalizing a 5hape of each
`
`extracヒinga moving figure from an image captured byヒhefisheye
`
`person' s figure， storing color information in the shape of each
`
`lens camera， includes a step of transforming a fisheye lens
`
`figure， and creating a picture for individually tracking a
`
`image into a transversely long picture having a panorama form，
`
`plurality of moving person5' figures based on the color
`
`extracting a signal of an inter-frame difference of the picture
`
`information of each figure， in relation ヒo regions of a
`
`or a signal in which an inter-frame difference and an in-frame
`
`plurality of persons' figure5 obtained from a picture of a
`
`difference are cOmbined， extracting a region using the signal，
`
`fisheye lens image.
`
`and extracting regions of a plurality of moving figures
`
`(0045)
`
`together.
`
`(0043)
`
`Further， (17) an image extraction method of extracting
`
`a moving figure from an image captured by the fisheye lens
`
`Further， (15) an image extraction method of extracting
`
`camera includes a step of extracting a region based on a feature
`
`a moving figure from an image captured by the fisheye lens
`
`amount multiplied by weighting factors which are different
`
`camera， includes a step of performing an operation of
`
`depending on an extent of distortion of a central part and a
`
`extracting a feature amount of a signal of an inter-frame
`
`peripheral part of the fisheye lens image.
`
`difference， a signal in which an inter-frame difference and
`
`[0046)
`
`an in-frame difference are combined， 0工 the like based on a
`
`工n addiヒion， (18) the step of extracting a region
`
`picture of a fisheye len5 image， and performing address
`
`includes a step of masking a non-extracted region by fu工ther
`
`transform between polar coordinates and orthogonal
`
`giving a different value thereto as the weighting factor 50
`
`coordinates and scanning inside of the picture of the fisheye
`
`as to correspond to the region in a picture of the fisheye lens
`
`lens image， in a region extraction proce5S for a feature
`
`image， and extractingヒhe region.
`
`~5
`
`26
`
`

`

`[0047)
`
`so as to recover an original image， and the corrected picture
`
`IEmbodiments of the 工nvention)
`
`(NT