Method, computer program, and apparatus for controlling image acquisition device

1. A method of controlling an image acquisition device for tracking a target object, the method comprising:

detecting an event in which tracking of a first object, which is a tracking target object, fails in a first image acquired by the image acquisition device;

determining, in the first image, a reference object which is used as a reference for controlling the image acquisition device;

controlling the image acquisition device such that at least one of an image capturing range and an image capturing direction of the image acquisition device is adjusted based on at least one of a size and a location of the reference object in the first image; and

recognizing the first object in a second image acquired by the image acquisition device in a state in which at least one of the image capturing range and the image capturing direction is adjusted.

2. The method of claim 1 , wherein the determining the reference object comprises setting a second object as the reference object when at least a portion of the first object is obscured by the second object, which is different from the first object, in the first image.

3. The method of claim 1 , wherein the determining the reference object comprises:

determining a moving direction of the first image based on at least one image acquired by the image acquisition device earlier than the first image; and

determining, as the reference object, an object positioned in the determined moving direction in the first image.

4. The method of claim 1 , wherein the controlling the image acquisition device comprises:

determining a region corresponding to the reference object in the first image; and

adjusting at least one of the image capturing range and the image capturing direction of the image acquisition device based on a relative locational relationship between the region corresponding to the reference object and a boundary line of the first image.

5. The method of claim 4 , wherein the controlling the image acquisition device comprises, based on the region corresponding to the reference object abutting the boundary line of the first image, adjusting the image capturing range and the image capturing direction of the image acquisition device such that the image capturing range of the image acquisition device is extended and the reference object is positioned in a center portion of the second image.

6. The method of claim 4 , wherein the controlling the image acquisition device comprises, based on the region corresponding to the reference object not abutting the boundary line of the first image, adjusting the image capturing direction such that the reference object is positioned in a center portion of the second image.

7. The method of claim 4 , wherein the controlling the image acquisition device comprises adjusting the image capturing range of the image acquisition device such that a ratio of the region corresponding to the reference object in the second image exceeds a certain first threshold ratio and is less than a certain second threshold ratio.

8. The method of claim 1 , wherein the recognizing the first object in the second image comprises:

maintaining the image capturing range and the image capturing direction of the image acquisition device until the first object is recognized in the second image;

setting at least a partial region of the second image as a region of interest in which the first object is expected to appear; and

recognizing the first object in the region of interest by using a trained artificial neural network.

9. The method of claim 1 , further comprising, after the recognizing the first object in the second image, initiating tracking of the first object by referring to a location of the first object in the second image.

10. A computer program recorded on a recording medium to execute the method of claim 1 by using a computer.

11. A control apparatus for controlling an image acquisition device for tracking a target object, the control apparatus comprising at least one processor configured to:

detect an event in which tracking of a first object, which is a tracking target object, fails in a first image acquired by the image acquisition device;

determine, in the first image, a reference object which is used as a reference for controlling the image acquisition device;

control the image acquisition device such that at least one of an image capturing range and an image capturing direction of the image acquisition device is adjusted based on at least one of a size and a location of the reference object in the first image; and

recognize the first object in a second image acquired by the image acquisition device in a state in which at least one of the image capturing range and the image capturing direction is adjusted.

12. The control apparatus of claim 11 , wherein the processor is further configured to set a second object as the reference object when at least a portion of the first object is obscured by the second object, which is different from the first object, in the first image.

13. The control apparatus of claim 11 , wherein the processor is further configured to:

determine a moving direction of the first image based on at least one image acquired by the image acquisition device earlier than the first image; and

determine, as the reference object, an object positioned in the determined moving direction in the first image.

14. The control apparatus of claim 11 , wherein the processor is further configured to:

determine a region corresponding to the reference object in the first image; and

adjust at least one of the image capturing range and the image capturing direction of the image acquisition device based on a relative locational relationship between the region corresponding to the reference object and a boundary line of the first image.

15. The control apparatus of claim 14 , wherein based on the region corresponding to the reference object abutting the boundary line of the first image, the processor is further configured to adjust the image capturing range and the image capturing direction of the image acquisition device such that the image capturing range of the image acquisition device is extended and the reference object is positioned in a center portion of the second image.

16. The control apparatus of claim 14 , wherein based on the region corresponding to the reference object not abutting the boundary line of the first image, the processor is further configured to adjust the image capturing direction such that the reference object is positioned in a center portion of the second image.

17. The control apparatus of claim 14 , wherein the processor is further configured to adjust the image capturing range of the image acquisition device such that a ratio of the region corresponding to the reference object in the second image exceeds a certain first threshold ratio and is less than a certain second threshold ratio.

18. The control apparatus of claim 11 , wherein the processor is further configured to maintain the image capturing range and the image capturing direction of the image acquisition device until the first object is recognized in the second image;

set at least a partial region of the second image as a region of interest in which the first object is expected to appear; and

recognize the first object in the region of interest by using a trained artificial neural network.

19. The control apparatus of claim 11 , wherein the processor is further configured to initiate tracking of the first object by referring to a location of the first object in the second image.

20. A weapon system comprising:

the control apparatus of claim 19 ;

the image acquisition device; and

a firing device configured to fire at the first object based on the location of the first object in the second image.