Following device
In the following device, at the time of pan/tilt movement of a pan head, images #1 to #3 for three frames shot by a camera are sequentially taken in into an image memory of an image processing device. And, processing of an image processing processor as well as a CPU compares the image #1 with the image #2 and the image #1 with the image #3 respectively so as to extract an image of an moving object so as to detect moving velocity of the moving object based on the image of this extracted moving object. When the moving velocity of the moving object is detected, a command signal to cause the pan head to pan/tilt at the moving of that moving object is given to a pan head controller by the CPU. This moves the pan head in the pan/tilt direction at the moving velocity of the moving object. Thus, detection of the moving velocity of the moving object from the shooting image of the camera and control of the moving velocity of the pan head based on the detected moving velocity of the moving object enables following on the moving object without fail.
1. A following device with a pan head on which a camera is mounted moving to move shooting directions of said camera while taking in images shot by said camera one after another so as to extract images of a moving object by comparing taken-in images and to control moving velocity of said pan head based on positions on a screen of images of said moving object so as not to dispose said moving object outside a shooting range of said camera, comprising:
a moving object image extraction device to extract image of said moving object based on images taken in from said camera, the moving object image extraction device including:
a comparative range determination device to take in images for two screens from said camera, and to determine a range where the shooting ranges of said camera corresponding to the images for said two screens overlap as a comparative range on the basis of the moving velocity of said pan head; and
an image processing device to extract images inside the comparative range determined from the images for said two screens by said comparative range determination device and to extract images of said moving object by comparing the images extracted in the comparative range;
a moving velocity detection device to detect moving velocity of said moving object from positional changes on the screen of images of said moving object extracted by said moving object image extraction device; and
a control device to control moving velocity of said pan head based on the moving velocity of said moving object obtained by said moving velocity detection device so that said moving object does not get out of the shooting range.
2. The following device according to claim 1 , wherein said control device enlarges the shooting range of said camera in a case where said moving object is determined to get out of the shooting range of said camera based on images of said moving object extracted by said moving object image extraction device.