Pan/tilt/zoom surveillance system and method for dynamically adjusting a user defined image picture mask

• US 7,218,342 B2
• Filed: 12/05/2002
• Issued: 05/15/2007
• Est. Priority Date: 06/06/2002
• Status: Expired due to Fees

• Current Assignee: Hitachi Industry & Control Solutions, Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: Kikuchi, Makoto, Kobayashi, Mitsunori, Rokuta, Shigehisa
• Primary Examiner(s): Vu; Ngoc-Yen
• Assistant Examiner(s): PASIEWICZ, DANIEL M
• Application Number:
  US10/313,640
• Publication Number:
  US 20030227555A1
• Time in Patent Office: 1,622 Days
• Field of Search: 348/143, 348/169, 348/207.99, 348/207.1, 348/207.11, 348/211.99, 3482118-2119, 34821113- 14, 382/103, 382/283
• US Class Current: 348/211.8
• CPC Class Codes: G08B 13/1963 Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
• CPC Class Codes: G08B 13/1968 Interfaces for setting up or customising the system
• CPC Class Codes: G08B 13/19686 Interfaces masking personal details for privacy, e.g. blurring faces, vehicle license plates
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A surveillance camera apparatus includes a first storage unit for storing a size of pixels configuring a image-sensor, a computation unit for performing a computation using first information, second information, third information, and fourth information to calculate angle information on a plurality of vertex-points, the information stored in the first storage unit being defined as the first information, a focal length of an optical lens being defined as the second information, angle information on an optical axis that passes through a rotation center of the surveillance camera apparatus as the third information, and pixel information corresponding to a plurality of vertex-points that form a region to be masked whose image has been picked up by the image-sensor being defined as the fourth information, and a second storage unit for storing the computation result by the computation unit.

Claims

1. A surveillance camera apparatus having an image-pickup unit and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, and being mountable onto a rotary base, said image-pickup unit locating therein an image-sensor and an optical lens, said surveillance camera apparatus, comprising:

a first storage unit for storing a size of pixels configuring said image-sensor,

computation means for performing a computation using first information, second information, third information, and fourth information so as to calculate angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, a focal length of said optical lens being defined as said second information, angle information on an optical axis that passes through a rotation center of said surveillance camera apparatus after being mounted onto said rotary base and that becomes a normal to a plane formed by said image-sensor being defined as said third information, and pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, and

a second storage unit for storing said computation result by said computation means.

2. The surveillance camera apparatus as claimed in claim 1, comprising:

an optical system including said image-sensor and a relatively-displaceable zoom-lens,

calculation means for calculating said focal length from a position of said zoom-lens, said computation means performing said computation including said information calculated by said calculation means, and

said second storage unit for storing said computation result by said computation means.

3. The surveillance camera apparatus as claimed in claim 1, further comprising:

computation means for performing a computation using said information read out from said second storage unit, said first information, said second information, and said third information so as to obtain said pixel information corresponding to said plurality of vertex-points that form said region to be masked on said image-sensor, and

a controller unit for controlling said surveillance camera apparatus, wherein said region of said image-pickup signal is masked and sent out, as said image-sensed picture, to a monitor unit for displaying said image-pickup signal as said image-sensed picture, said region resulting from connecting said pixels corresponding to said plurality of vertex-points.

4. A surveillance camera system apparatus including a surveillance camera and a rotary base for rotatably supporting said surveillance camera, said surveillance camera having an image-pickup unit and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, said image-pickup unit locating therein an image-sensor and an optical lens,

said surveillance camera system apparatus comprising said surveillance camera and said rotary base,

said surveillance camera, comprising:

a first storage unit for storing a size of pixels configuring said image-sensor,

computation means for performing a computation using first information, second information, third information, and fourth information so as to obtain angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, a focal length of said optical lens being defined as said second information, angle information on an optical axis that passes through a rotation center of said rotatably-supported surveillance camera and that becomes a normal to a plane formed by said image-sensor being defined as said third information, and pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, and

a second storage unit for storing said computation result by said computation means.

5. The surveillance camera system apparatus as claimed in claim 4, comprising said surveillance camera and said rotary base,

said surveillance camera, comprising:

an optical system including said image-sensor and a relatively-displaceable zoom-lens,

calculation means for calculating said focal length from a position of said zoom-lens, said computation means performing said computation including said information calculated by said calculation means, and

said second storage unit for storing said computation result by said computation means.

6. The surveillance camera system apparatus as claimed in claim 4, wherein said surveillance camera further comprises:

computation means for performing a computation using said information read out from said second storage unit, said first information, said second information, and said third information so as to obtain said pixel information corresponding to said plurality of vertex-points that form said region to be masked on said image-sensor, and

a controller unit for controlling said surveillance camera system apparatus, said region of said image-pickup signal being masked and sent out, as said image-sensed picture, to a monitor unit for displaying said image-pickup signal as said image-sensed picture, said region resulting from connecting said pixels corresponding to said plurality of vertex-points.

7. A surveillance camera apparatus having an image-pickup unit, distance-measuring means for measuring a distance up to a photograph-target, and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, and being mountable onto a rotary base, said image-pickup unit including an image-sensor and optical lenses including a relatively-displaceable zoom-lens, said surveillance camera apparatus, comprising:

a first storage unit for storing a size of pixels configuring said image-sensor,

a third storage unit for storing a distance up to said image-sensor from a rotation center of said surveillance camera apparatus after being mounted onto said rotary base,

calculation means for calculating a focal length from a position of said zoom-lens,

computation means for performing a computation using first information through sixth information so as to calculate angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, said information by said calculation means being defined as said second information, angle information on an optical axis that passes through said rotation center of said surveillance camera apparatus after being mounted onto said rotary base and that becomes a normal to a plane formed by said image-sensor being defined as said third information, pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, said information stored in said third storage unit being defined as said fifth information, and said distance up to said photograph-target that exists in said region to be masked whose image has been picked up by said image-sensor being defined as said sixth information, said distance being measured by said distance-measunng means, and

a second storage unit for storing said computation result by said computation means and said sixth information.

8. The surveillance camera apparatus as claimed in claim 7, wherein said optical lenses further include a relatively-displaceable focus-lens, and calculation means is employed as said distance-measuring means, said calculation means calculating said distance up to said photograph-target by using image-pickup signal luminance edge-component information obtained by said signal processing unit, said position of said zoom-lens, and a position of said focus-lens, said photograph-target existing in said region to be masked whose image has been picked up by said image-sensor.

9. A surveillance camera system apparatus including a surveillance camera and a rotary base for rotatably supporting said surveillance camera, said surveillance camera having an image-pickup unit, distance-measuring means for measuring a distance up to a photograph-target, and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, said image-pickup unit including an image- sensor and optical lenses including a relatively-displaceable zoom-lens,

said surveillance camera system apparatus comprising said surveillance camera and said rotary base,

said surveillance camera, comprising:

a first storage unit for storing a size of pixels configuring said image-sensor,

a third storage unit for storing a distance up to said image-sensor from a rotation center of said rotatably-supported surveillance camera,

calculation means for calculating a focal length from a position of said zoom-lens,

computation means for performing a computation using first information through sixth information so as to calculate angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, said information by said calculation means being defined as said second information, angle information on an optical axis that passes through said rotation center of said rotatably-supported surveillance camera and that becomes a normal to a plane formed by said image-sensor being defined as said third information, pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, said information stored in said third storage unit being defined as said fifth information, and said distance up to said photograph-target that exists in said region to be masked whose image has been picked up by said image-sensor being defined as said sixth information, said distance being measured by said distance-measuring means, and

a second storage unit for storing said computation result by said computation means and said sixth information.

10. The surveillance camera system apparatus as claimed in claim 9, wherein said optical lenses further include a relatively-displaceable focus-lens, and calculation means is employed as said distance-measuring means, said calculation means calculating said distance up to said photograph-target by using image-pickup signal luminance edge-component information obtained by said signal processing unit, said position of said zoom-lens, and a position of said focus-lens, said photograph-target existing in said region to be masked whose image has been picked up by said image-sensor.

11. An image-sensed picture masking method in a system comprising:

a surveillance camera having an image-pickup unit and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, said image-pickup unit locating therein an image-sensor and an optical lens,

a rotary base for rotatably supporting said surveillance camera,

a controller unit for controlling said surveillance camera, and

a monitor unit for displaying said image-pickup signal as said image-sensed picture,

said surveillance camera, comprising;

a first storage unit for storing a size of pixels configuring said image-sensor,

computation means for performing a computation using first information, second information, third information, and fourth information so as to obtain angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, a focal length of said optical lens being defined as said second information, angle information on an optical axis that passes through a rotation center of said rotatably-supported surveillance camera and that becomes a normal to a plane formed by said image-sensor being defined as said third information, and pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, and

a second storage unit for storing said computation result by said computation means,

said image-sensed picture masking method, comprising the steps of;

specifying said region to be masked at said controller unit on a basis of said image-sensed picture displayed on said monitor unit,

defining, as said fourth information, said pixel information on said plurality of vertex-points that form said region to be masked,

computing, by said computation means, said angle information on said plurality of vertex-points that form said region to be masked, and

storing said angle information into said second storage unit.

12. The image-sensed picture masking method as claimed in claim 11, wherein said system comprises an optical system including said image-sensor and a relatively-displaceable zoom-lens, and calculation means for calculating said focal length from a position of said zoom-lens, said image-sensed picture masking method, comprising the steps of:

performing, by said computation means, said computation including said information calculated by said calculation means, and

storing said computation result by said computation means into said second storage unit.

13. The image-sensed picture masking method as claimed in claim 11, further comprising the steps of:

performing a computation using said information read out from said second storage unit, said first information, said second information, and said third information,

determining, based on said computation result, said pixel information corresponding to said plurality of vertex-points that form said region to be masked on said image-sensor, and

masking and sending out, as said image-sensed picture, said region resulting from connecting said plurality of vertex-points.

14. The image-sensed picture masking method as claimed in claim 13, further comprising the steps of:

letting a transverse direction of said image-sensor screen be an x-axis and a longitudinal direction perpendicular to said x-axis be a y-axis, and

masking and sending out, as said image-sensed picture, a rectangular closed region formed by straight lines parallel to said x-axis and straight lines parallel to said y-axis, said straight lines also circumscribing said plurality of vertex-points that form said region to be masked, said plurality of vertex-points being stored in said second storage unit.

15. The image-sensed picture masking method as claimed in claim 13, further comprising the steps of:

determining intersection-points at which straight lines intersect with line-segments, said straight lines forming a picture-frame of said image-sensor, said line-segments being formed by said plurality of vertex-points that form said region to be masked, said plurality of vertex-points being stored in said second storage unit, and

masking and sending out, as said image-sensed picture, a closed region resulting from connecting said intersection-points with said vertex-points that are positioned inside said picture-frame of said image-sensor.

16. The image-sensed picture masking method as claimed in claim 13, further comprising the steps of:

letting a transverse direction of said image-sensor screen be an x-axis and a longitudinal direction perpendicular to said x-axis be a y-axis, said image-sensor being of a rectangle formed by straight lines parallel to said x-axis and straight lines parallel to said y-axis, and

setting up, as P′

n, where n is an, arbitrary natural number, said plurality of vertex-points that form said region to be masked and that are positioned inside a picture-frame of said image-sensor, said plurality of vertex-points being stored in said second storage unit, and

setting up, as Nn, where n is an, arbitrary natural number, intersection-points at which line-segments formed by said plurality of vertex-points P′

n intersect with said straight lines parallel to said x-axis and said straight lines parallel to said y-axis, said straight lines forming said picture-frame of said image-sensor, and,

if a vertex-point of said picture-frame of said image-sensor, at which said straight line parallel to said x-axis and said straight line parallel to said y-axis intersect with each other, exists inside said closed region formed by said plurality of vertex-points P′

n that form said region to be masked,

setting up, as N′

n (n;

arbitrary natural number), said vertex-point of said picture-frame of said image-sensor, and

masking and sending out, as said image-sensed picture, a closed region resulting from connecting said vertex-points P′

n, said intersection-points Nn, and said vertex-point N′

n of said picture-frame.

17. The image-sensed picture masking method as claimed in claim 11, further comprising the steps of:

letting said first information be xu, yu, said second information be f, said third information be θ

xo, θ

yo, and said fourth information be xp, yp, and when letting said angle information stored in said second storage unit be θ

xp, θ

yp,

computing said xp, yp, which become said plurality of vertex-points that form said region to be masked, using

xp=(f/xu)·

sin(θ

xp−

θ

xo)·

cos θ

yp/{cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo},

and

yp=(f/yu)·

{−

cos(θ

xp−

θ

xo)·

cos θ

yp·

sin θ

yo+sin θ

yp·

cos θ

yo}/{cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo},

where these expressions hold only when cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo>

0, and also sin indicates sine and cos indicates cosine.

18. An image-sensed picture masking method in a system comprising:

a surveillance camera having an image-pickup unit, distance-measunng means for measuring a distance up to a photograph-target, and a signal processing unit for processing an image-pickup signal, and sending out an image-sensed picture, said image-pickup unit including an image-sensor and optical lenses including a relatively-displaceable zoom-lens,

a rotary base for rotatably supporting said surveillance camera,

a controller unit for controlling said surveillance camera, and

a monitor unit for displaying said image-pickup signal as said image-sensed picture,

said surveillance camera, comprising;

a first storage unit for storing a size of pixels configuring said image-sensor,

a third storage unit for storing a distance up to said image-sensor from a rotation center of said rotatably-supported surveillance camera,

calculation means for calculating a focal length from a position of said zoom-lens,

computation means for performing a computation using first information through sixth information so as to obtain angle information on a plurality of vertex-points that form a region to be masked, said information stored in said first storage unit being defined as said first information, said information by said calculation means being defined as said second information, angle information on an optical axis that passes through said rotation center of said rotatably-supported surveillance camera and that becomes a normal to a plane formed by said image-sensor being defined as said third information, pixel information corresponding to said plurality of vertex-points that form said region to be masked whose image has been picked up by said image-sensor being defined as said fourth information, said information stored in said third storage unit being defined as said fifth information, and said distance up to said photograph-target that exists in said region to be masked whose image has been picked up by said image-sensor being defined as said sixth information, said distance being measured by said distance-measuring means, and

a second storage unit for storing said computation result by said computation means and said sixth information,

said image-sensed picture masking method, comprising the steps of;

specifying said region to be masked at said controller unit on a basis of said image-sensed picture displayed on said monitor unit,

defining, as said fourth information, said pixel information on said plurality of vertex-points that form said region to be masked,

computing, by said computation means, said angle information on said plurality of vertex-points that form said region to be masked, and

storing said angle information into said second storage unit.

19. The image-sensed picture masking method as claimed in claim 18, wherein said optical lenses further include a focus-lens, and calculation means is employed as said distance-measuring means, said calculation means calculating said distance up to said photograph-target by using image-pickup signal luminance edge-component information obtained by said signal processing unit for processing said image-pickup signal, said position of said zoom-lens, and a position of said focus-lens, said photograph-target existing in said region to be masked whose image has been picked up by said image-sensor.

20. The image-sensed picture masking method as claimed in claim 18, further comprising the steps of:

letting said first information be xu, yu, said second information be f, said third information be θ

xo, θ

yo, said fourth information be xp, yp, said fifth information be r, and said sixth information be 1, and when letting said angle information stored in said second storage unit be θ

xp, θ

yp,

computing said xp, yp, which become said plurality of vertex-points that form said region to be masked, using

xp=(f/xu)·

sin(θ

xp−

θ

xo)·

cos θ

yp/{d+cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo},

and

yp=(f/yu)·

{−

cos(θ

xp−

θ

xo)·

cos θ

yp·

sin θ

yo+sin θ

yp·

cos θ

yo}/{d+cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo},

where, let d=(r−

f)/I, and these expressions hold only when d+cos(θ

xp−

θ

xo)·

cos θ

yp·

cos θ

yo+sin θ

yp·

sin θ

yo>

0, and also sin indicates sine and cos indicates cosine, and thereby

determining said plurality of vertex-points.