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US-20260129299-A1 - CONTROL APPARATUS, IMAGING SYSTEM, CONTROL METHOD, AND STORAGE MEDIUM

US20260129299A1US 20260129299 A1US20260129299 A1US 20260129299A1US-20260129299-A1

Abstract

A control apparatus for controlling an angle of view of an imaging apparatus includes an acquisition unit for acquiring an image captured by the imaging apparatus, a detection unit for detecting an object from the image, and a control unit for performing angle of view control on the imaging apparatus based on a difference between a position of the object in the image and a target position in the image. Whether to perform the angle of view control is determined based on the difference and at least one threshold for the difference. The angle of view control is performed by switching a plurality of control modes where control speed of the angle of view control is different based on any of a size of the object, the target position, and the at least one threshold.

Inventors

  • Takuya Iwata

Assignees

  • CANON KABUSHIKI KAISHA

Dates

Publication Date
20260507
Application Date
20251219
Priority Date
20221109

Claims (12)

  1. 1 . A control apparatus, comprising: one or more memories storing instructions; and one or more processors executing the instructions to: obtain an image captured by an image capturing device; detect an object from the image; and perform field of view control on the image capturing device to track the object in a case where a difference between a position of the object in the image and a target position in the image is greater than a first threshold, stop the field of view control in a case where the difference is less than a second threshold smaller than the first threshold.
  2. 2 . The control apparatus according to claim 1 , wherein the one or more processors further execute the instructions to start the field of view control in a case where the difference exceeds the second threshold in a state where the field of view control is stopped.
  3. 3 . The control apparatus according to claim 1 , wherein the one or more processors further execute the instructions to stop the field of view control in a case where the difference is less than the first threshold in a state where the field of view control is performed.
  4. 4 . The control apparatus according to claim 2 , wherein the one or more processors further execute the instructions to stop the field of view control in a case where the difference is less than the first threshold in a state where the field of view control is performed.
  5. 5 . The control apparatus according to claim 1 , wherein the first threshold is specified by a user.
  6. 6 . The control apparatus according to claim 1 , wherein the second threshold is unable to be specified by a user.
  7. 7 . The control apparatus according to claim 5 , wherein the one or more processors further execute the instructions to set the second threshold based on the first threshold.
  8. 8 . The control apparatus according to claim 6 , wherein the one or more processors further execute the instructions to set the second threshold based on the first threshold.
  9. 9 . The control apparatus according to claim 1 , wherein a control speed in the field of view control has a proportional relationship with the difference.
  10. 10 . The control apparatus according to claim 1 , wherein a control speed in the field of view control has a nonlinear relationship with the difference.
  11. 11 . A control method comprising: obtaining an image captured by an image capturing device; detecting an object from the image; performing field of view control on the image capturing device to track the object in a case where a difference between a position of the object in the image and a target position in the image is greater than a first threshold; and stopping the field of view control in a case where the difference is less than a second threshold smaller than the first threshold.
  12. 12 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute a control method, the control method comprising: obtaining an image captured by an image capturing device; detecting an object from the image; performing field of view control on the image capturing device to track the object in a case where a difference between a position of the object in the image and a target position in the image is greater than a first threshold; and stopping the field of view control in a case where the difference is less than a second threshold smaller than the first threshold.

Description

CROSS REFERENCE OF RELATED APPLICATIONS This application is a continuation of U.S. Patent Application No. 18/504,017, filed on November 7, 2023, which claims the benefit of Japanese Patent Application No. 2022-179917, filed November 9, 2022, all of which is hereby incorporated by reference herein in its entirety. BACKGROUND OF THE INVENTION FIELD OF THE INVENTION The present invention relates to a control apparatus, an imaging system, a control method, a program, and a storage medium. DESCRIPTION OF THE RELATED ART As a technique for automatically tracking an object to be imaged and capturing an image of the object, a technique for adjusting the angle of view of an imaging apparatus by making pan, tilt, and zoom (hereinafter, referred to as PTZ) operations based on the movement of the tracking target to cover the tracking target within the angle of view has been known in recent years. Japanese Patent Application Laid-Open Publication No. 2019-68183 discusses a monitoring apparatus for tracking an object entering a monitoring area and capturing an image of the object, the monitoring apparatus including an object detection unit configured to detect a position of the object, an imaging unit of which an imaging direction can be changed, and a mode switching unit. The monitoring apparatus discussed in Japanese Patent Application Laid-Open Publication No. 2019-68183 has at least two control modes depending on the moving speed of the object, and controls the imaging direction of the imaging unit based on either one of the control modes. Depending on the moving speed of the object determined from the detection result of the object detection unit, the mode switching unit switches from a low-speed control mode to a high-speed control mode and from the high-speed control mode to the low-speed control mode based on respective predetermined switching criteria. SUMMARY OF THE INVENTION According to an aspect of the present invention, a control apparatus configured to control an angle of view of an imaging apparatus includes at least one processor, and a memory coupled to the at least one processor, the memory storing instructions that, when executed by the at least one processor, cause the at least one processor to acquire an image captured by the imaging apparatus, detect an object from the image, and perform angle of view control on the imaging apparatus based on a difference between a position of the object in the image and a target position in the image. Whether to perform the angle of view control is determined based on the difference and at least one threshold for the difference. The angle of view control is performed by switching a plurality of control modes where control speed of the angle of view control is different based on any of a size of the object, the target position, and the at least one threshold. Further features of the present invention will become apparent from the following description of embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block configuration diagram of an automatic tracking imaging system according to a first embodiment. FIG. 2 is a diagram schematically illustrating imaging settings of the automatic tracking imaging system according to the first embodiment. FIG. 3 is a flowchart illustrating a processing procedure of the automatic tracking imaging system according to the first embodiment. FIG. 4 is a diagram schematically illustrating other examples of the imaging settings according to the first embodiment. FIG. 5 illustrates graphs for calculating an angle of view operation speed according to the first embodiment. FIG. 6 is a diagram schematically illustrating switching of angle of view operation speed calculations based on a threshold according to the first embodiment. FIG. 7 is a graph for calculating the angle of view operation speed according to the first embodiment. FIG. 8 is a block configuration diagram of an automatic tracking imaging system according to a second embodiment. FIG. 9 is a flowchart illustrating a processing procedure of the automatic tracking imaging system according to the second embodiment. FIG. 10 illustrates graphs for calculating an angle of view operation speed according to the second embodiment. FIG. 11 illustrates a graph for calculating an angle of view operation speed according to the second embodiment. FIG. 12 is a diagram schematically illustrating switching of angle of view operation speed calculations based on a threshold according to the second embodiment. FIG. 13 is a diagram illustrating a hardware configuration example of an angle of view adjustment apparatus according to the first or second embodiment. DESCRIPTION OF THE EMBODIMENTS Embodiments of the present invention will be described in detail below with reference to the attached drawings. The following embodiments are just examples of means for carrying out the present invention. Appropriate changes or modifications shall be made dependin