Method for optimizing privacy mask of camera with panning and tilting control and imaging device with privacy mask optimization applied

1. A method of creating a privacy mask from an image imaged by an imaging device in which a rotation axis of a camera and a center of a lens do not match, the method comprising:

measuring a distance from the camera to an object in a first imaging condition;

creating a first mask for the object, and storing the distance together with the first mask; and

creating a second mask for the object in a second imaging condition;

calculating an error between the second mask created and the object based on an offset between a center point of the lens and the rotation axis and the distance; and

and correcting a position of the second mask using the first mask, the distance, and the calculated error

wherein an imaging angle of the camera in the first imaging condition is same as the imaging angle of the camera in the second imaging condition,

wherein a position of the lens in the first imaging condition is reversed around the rotation axis from a position of the lens in the second imaging condition, and

wherein the correcting the position of the second mask using the first mask and the distance comprises correcting the position of the second mask based on a ratio of twice a distance between the rotation axis of the camera and the center of the lens over the distance.

2. The method of claim 1 , wherein the first imaging condition comprises a first panning angle and a first tilting angle, and

wherein the second imaging condition comprises a second panning angle and a second tilting angle.

3. The method of claim 2 , wherein a difference between the first panning angle and the second panning angle is 180 degrees, and

wherein a sum of the first tilting angle and the second tilting angle is 180 degrees.

4. The method of claim 1 , wherein the distance is measured using locus data of the lens.

5. The method of claim 1 , further comprising initializing the imaging device by correcting a structural error of the imaging device.

6. The method of claim 5 , wherein the correcting of the structural error comprises:

rotating a panning motor from 0 degrees to 180 degrees at unit angle intervals;

measuring an actual rotation angle of the camera; and

comparing and storing a rotation angle of the panning motor and the actual rotation angle of the camera.

7. The method of claim 6 , wherein the actual rotation angle of the camera is measured using one or more of a gyro sensor or an acceleration sensor.

8. The method of claim 6 , wherein information stored by comparing the rotation angle of the panning motor and the actual rotation angle of the camera is applied to the actual rotation angle of the camera at 180 to 360 degrees of the panning motor.

9. The method of claim 6 , wherein the correcting of the second mask comprises correcting the position of the second mask using a difference between the rotation angle of the panning motor and the actual rotation angle of the camera.

10. The method of claim 5 , wherein the correcting of the structural error comprises:

setting a position of a tilting angle of 0 degrees to a predetermined position;

calculating a tilting error angle using a lens position of the lens at a first tilting angle and a lens position of the lens at a second tilting angle; and

rotating the position of the tilting angle of 0 degrees by half of the tilting error angle to correct the position of the tilting angle of 0 degrees,

wherein an imaging angle of the camera for the second tilting angle is same as an imaging angle of the camera for the first tilting angle, and

wherein the position of the lens at the second tilting angle is reversed around the rotation axis from the position of the lens at the first tilting angle.

11. An imaging device, comprising:

a camera configured to support panning and/or tilting motions, wherein a rotation axis of the camera and a center of a lens of the camera do not match;

a memory configured to store instructions for creating a privacy mask in an image imaged by the camera; and

at least one processor configured to execute the instructions to;

create a first mask for an object in a first imaging condition,

store a distance from the camera to the object together with the first mask, and

create a second mask for the object in a second imaging condition;

calculate an error between the second mask created and the object based on an offset between a center point of the lens and the rotation axis and the distance; and

correct a position of the second mask using the first mask, the distance, and the calculated error

wherein an imaging angle of the camera in the first imaging condition is same as the imaging angle of the camera in the second imaging condition,

wherein a position of the lens in the first imaging condition is reversed around the rotation axis from a position of the lens in the second imaging condition, and

wherein the correcting the position of the second mask using the first mask and the distance comprises correcting the position of the second mask based on a ratio twice a distance between the rotation axis of the camera and the center of the lens over the distance.

12. The device of claim 11 , wherein the first imaging condition comprises a first panning angle and a first tilting angle,

wherein the second imaging condition comprises a second panning angle and a second tilting angle,

wherein a difference between the first panning angle and the second panning angle is 180 degrees, and

wherein a sum of the first tilting angle and the second tilting angle is 180 degrees.

13. The device of claim 11 , wherein the at least one processor is further configured to execute the instructions to measure the distance using locus data of the lens.

14. The device of claim 11 , wherein the at least one processor is further configured to execute the instructions to initialize the imaging device by correcting a structural error of the imaging device.

15. The device of claim 14 , wherein the at least one processor is further configured to execute the instructions to:

rotate a panning motor from 0 degrees to 180 degrees at unit angle intervals,

measure an actual rotation angle of the camera, and

compare a rotation angle of the panning motor and the actual rotation angle of the camera; and

store the rotation angle of the panning motor and the actual rotation angle of the camera in the memory.

16. The device of claim 15 , further comprising:

one or more of a gyro sensor or an acceleration sensor configured to measure the actual rotation angle of the camera.

17. The device of claim 14 , wherein the at least one processor is further configured to execute the instructions to:

set a position of a tilting angle of 0 degrees to a predetermined position,

calculate a tilting error angle using a lens position of the lens at a first tilting angle and a lens position of the lens at a second tilting angle, and

rotate the position of the tilting angle of 0 degrees by half of the tilting error angle to correct the position of the tilting angle of 0 degrees,

wherein an imaging angle of the camera for the second tilting angle is same as an imaging angle of the camera for the first tilting angle, and

wherein a position of the lens at the second tilting angle is reversed around the rotation axis from a position of the lens at the first tilting angle.

18. The method of claim 1 , wherein the error is calculated based on a following equation:

θ=tan−1( l/d ),

wherein θ represents the error, d represents the distance from the camera to the object, and l represents the twice the distance between the rotation axis of the camera and the center of the lens.