PROBLEM TO BE SOLVED: To provide a video monitoring system which properly performs flight control of a flying body by accurately estimating a location and a posture of the flying body even when the monitoring area is an indoor space.SOLUTION: The video monitoring system includes: a flying body 1 with a camera and an inclination sensor mounted; a stationary camera 2 installed in a monitoring area; parameter storage means 3 for storing space information on the monitoring area, location estimation means 4 for estimating location information on the flying body on the basis of image information imaged by the stationary camera and the space information; posture estimation means 5 for estimating posture information on the flying body on the basis of photographic images by the camera mounted in the flying body, inclination information detected by the inclination sensor and the location information on the flying body; and a flight movement control means 6 for controlling flight movement of the flying body on the basis of the location information on the flying body, the posture information on the flying body and the space information.SELECTED DRAWING: Figure 1

    【課題】監視エリアが屋内空間であっても、飛行体の位置と姿勢を高精度に推定して適切に飛行体を飛行制御する映像監視システムを提供する。【解決手段】カメラと傾きセンサを搭載した飛行体1と、監視エリアに設置する固定カメラ2と、監視エリアの空間情報を格納したパラメータ記憶手段3と、固定カメラにより撮影された画像情報と、空間情報とに基づいて飛行体の位置情報を推定する位置推定手段4と、飛行体に搭載されたカメラの撮影画像と、傾きセンサにより検出された傾き情報と、飛行体の位置情報とに基づいて、飛行体の姿勢情報を推定する姿勢推定手段5と、飛行体の位置情報と、飛行体の姿勢情報と、空間情報とに基づいて、飛行体の飛行動作を制御する飛行動作制御手段6とを備える。【選択図】図1


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    Title :

    VIDEO MONITORING SYSTEM


    Additional title:

    映像監視システム


    Contributors:

    Publication date :

    2016-10-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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