JP5747850B2 - Camera control device, camera control method, and camera control program - Google Patents

Description

  The present invention relates to a camera control device, a camera control method, and a camera control program that control the imaging direction of a camera.

  A monitoring system is known that can control a camera with a pan head that changes the imaging direction by rotating in the horizontal direction (pan) or rotating in the vertical direction (tilt) to monitor a wide area. ing. In such a monitoring system, there is a system that selects a position on a map displayed on a camera control terminal and pans the camera in a direction in which the position can be captured (see, for example, Patent Document 1).

JP-A-4-169913

  However, in the system described in Patent Document 1, although the camera pans when the position on the map displayed on the camera control terminal is selected, a separate operation is required to tilt the camera, which is easy and intuitive. Tilt control was not performed.

  An object of the present invention is to provide a camera control device, a camera control method, and a camera control program that can easily and intuitively control pan and tilt of a camera.

  According to one aspect of the present invention, a storage unit (103) that stores a map indicating an area that can be imaged by the camera (20), and an output that causes the display unit (40) to display a map stored in the storage unit (103). When the selection of the position on the map is received by the operation part (106) that receives the selection of the position on the map displayed on the part (105), the display part (40), and the operation part (106), the selection is made. A pan control unit (107) for panning the camera (20) so as to capture the subject (53) in the direction of the actual position corresponding to the selected position, and the selection time on the map received by the operation unit. Accordingly, a camera control device (10) including a tilt control unit (108) that changes the tilt amount of the camera (20) is provided.

  In one aspect of the present invention, the tilt control unit (108) may tilt down the camera (20) when the time during which the position on the map is selected is equal to or longer than the first time.

  In one embodiment of the present invention, the tilt control unit (108) may tilt the camera (20) after the pan control unit (107) pans the camera (20).

  In one aspect of the present invention, the tilt control unit (108) may perform the tilt-up and tilt-down of the camera (20) by reversing each time the same position on the map is selected.

  In one aspect of the present invention, when the tilt control unit (108) selects the same position on the map again after the second time has elapsed since the selection of the position on the map has ended, the camera (20 ) May be tilted down.

  According to another aspect of the present invention, a storage step for storing a map showing an area that can be imaged by the camera (20), an output step for displaying the map stored in the storage step on the display unit (40), and a display An operation step for accepting a selection of a position on the map displayed in the unit (40), and when a selection of a position on the map is accepted in the operation step, a subject in the direction of the actual position corresponding to the selected position ( 53) a pan control step for panning the camera (20) so as to capture an image, and a tilt control step for changing the tilt amount of the camera (20) in accordance with the selection time of the position on the map received in the operation step. A camera control method is provided.

  According to still another aspect of the present invention, a storage function for storing a map indicating an area that can be captured by the camera (20) in the storage unit (103), and a map stored in the storage unit (103) are displayed. The output function to be displayed in (40), the operation function for accepting the selection of the position on the map displayed on the display unit (40), and the selection of the position on the map by the operation function is accepted. According to the pan control function for panning the camera (20) so as to image the subject (53) in the direction of the actual position corresponding to the position, and the selection time of the position on the map accepted by the operation function, There is provided a camera control program for causing a computer to realize a tilt control function for changing the tilt amount of the camera (20).

  According to the present invention, it is possible to provide a camera control device, a camera control method, and a camera control program that can easily and intuitively control pan and tilt of a camera.

It is a block diagram which shows an example of the camera control system which concerns on embodiment of this invention. It is the schematic which shows an example of the camera control system which concerns on embodiment of this invention. It is the schematic which shows an example of the display image of the initial state which concerns on embodiment of this invention. It is the schematic which shows an example of the display image when it pans concerning embodiment of this invention. FIG. 5A is a schematic diagram showing an example of a camera control system at the time of tilt-down according to the embodiment of the present invention. FIG. 5B is a schematic diagram showing an example of a display image when tilted down according to the embodiment of the present invention. FIG. 6A is a schematic diagram illustrating an example of a camera control system during tilt-up according to the embodiment of the present invention. FIG. 6B is a schematic diagram showing an example of a display image when tilted up according to the embodiment of the present invention. It is a flowchart for demonstrating an example of the camera control method which concerns on embodiment of this invention.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness of each layer, and the like are different from the actual ones. Therefore, specific thicknesses and dimensions should be determined in consideration of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

  Further, the embodiments described below exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the material, shape, structure, The layout is not specified as follows. The technical idea of the present invention can be variously modified within the scope of the claims.

[Camera control system configuration]
As an example of the camera control system according to the embodiment of the present invention, a monitoring system for monitoring the inside of a store will be described.

  As shown in FIGS. 1 and 2, the camera control system according to the embodiment of the present invention controls a camera (monitoring camera) 20 for monitoring the inside of a store, and panning and tilting of the camera 20. A camera control device (camera control terminal) 10 for browsing an image captured by the camera 20 and an image display device 40 for displaying a display image output by the camera control device 10 are provided. In the embodiment of the present invention, in order to simplify the description, an example in which there is one camera 20 will be described, but it is needless to say that there may be a plurality of cameras 20.

  The camera 20 is attached to a high place such as a ceiling so that the inside of the store can be seen. In the embodiment of the present invention, the camera 20 is a network camera, and transmits a captured image via the network 30 or changes an imaging direction according to a control signal received via the network 30.

The camera control device 10 may be installed in the same store as the camera 20 or installed in a security guard room or the like. The camera control device 10 is obtained by installing control application software on a general-purpose personal computer, for example.

  The image display device 40 is, for example, a liquid crystal monitor or a projector, and is installed together with the camera control device 10 so that the camera control device 10 can be operated while viewing a display image displayed on the image display device 40.

  The camera control device 10 and the camera 20 are connected to the network 30 via a LAN (Local Area Network) cable, and the camera control device 10 and the camera 20 communicate with each other via the network 30. The network 30 includes network devices such as a wireless LAN access point, a router, and a hub. The communication between the camera control device 10 and the camera 20 is not limited to communication via a wireless LAN or a LAN cable, but may be other communication such as a mobile phone line.

[Camera configuration]
As shown in FIG. 1, the camera 20 includes an imaging unit 201 having a zoom lens 210, a compression unit 202, a communication unit 203, a control unit 204, a pan head driving unit 205, and a zoom driving unit 207.

  The imaging unit 201 images a surrounding subject and outputs the captured image to the compression unit 202.

  The compression unit 202 compresses the captured image output from the imaging unit 201 with a standard such as JPEG (Joint Picture Expert Group) or MPEG (Moving Picture Expert Group) -4, for example, and the compressed captured image is a communication unit. It outputs to 203.

  Based on the pan control signal, zoom control signal, and tilt control signal received from the camera control device 10 via the communication unit 203, the control unit 204 controls the pan head drive unit 205 to perform panning and zoom driving. A control signal for causing the unit 207 to drive the zoom lens 210 and a control signal for causing the camera platform drive unit 205 to perform tilting are output.

  The pan / tilt head driving unit 205 changes the imaging direction by panning and tilting the imaging unit 201 according to a control signal from the control unit 204. A pan angle sensor 206 and a tilt angle sensor 209 are attached to the pan head drive unit 205. The pan angle sensor 206 outputs the horizontal angle of the image capturing direction of the image capturing unit 201 as pan data. The tilt angle sensor 209 outputs the angle in the vertical direction among the imaging directions of the imaging unit 201 as tilt data.

  The zoom drive unit 207 drives the zoom lens 210 according to the control signal from the control unit 204 to change the focal length. As a result, the camera 20 zooms in and out. A zoom sensor 208 is attached to the zoom drive unit 207. The zoom sensor 208 outputs data indicating the current focal length of the zoom lens 210 as zoom data.

  The communication unit 203 includes the captured image compressed by the compression unit 202, pan data output by the pan angle sensor 206, tilt data output by the tilt angle sensor 209, and zoom data output by the zoom sensor 208. Is transmitted to the camera control device 10. The communication unit 203 also receives the pan control signal, zoom control signal, and tilt control signal transmitted from the camera control apparatus 10 and sends them to the control unit 204.

[Configuration of camera control device]
The camera control apparatus 10 includes a communication unit 101, a decoding unit 102, a storage unit 103, a combining unit 104, an output unit 105, an operation unit 106, a pan control unit 107, a tilt control unit 108, and a zoom control unit 109.

  The communication unit 101 receives captured image data, pan data, tilt data, and zoom data transmitted from the camera 20. The communication unit 101 also transmits the tilt control signal output from the tilt control unit 108, the pan control signal output from the pan control unit 107, and the zoom control signal output from the zoom control unit 109 to the camera 20.

  The decoding unit 102 decodes the compressed captured image of the standard such as JPEG or MPEG-4 received by the communication unit 101.

  The storage unit 103 includes map data indicating an area that can be imaged by the camera 20 such as a store where the camera 20 is installed, camera icon data indicating an image of a camera icon displayed on the map, and the camera 20 on the map. Stores position coordinates and the like.

  The synthesizing unit 104 synthesizes the display image data using the captured image decoded by the decoding unit 102, the map data read from the storage unit 103, the camera icon data, and the position coordinates of the camera 20.

  For example, as illustrated in FIG. 3, the combining unit 104 uses a map 51 corresponding to the map data read from the storage unit 103 as a background, and positions the map 51 on the map 51 corresponding to the position coordinates of the camera 20 read from the storage unit 103. The camera icon 52 corresponding to the camera icon data is synthesized. The orientation of the camera icon 52 may be fixed, or may be rotated according to the imaging direction of the camera 20. In FIG. 3, it is assumed that the orientation A of the camera icon 52 rotates so as to coincide with the actual imaging direction of the camera 20. The subject 53 on the map 51 may be synthesized on the map 51 by being recognized from an image captured by the camera 20, for example, and may not be displayed on the map 51. Furthermore, the synthesis unit 104 synthesizes the captured image 60 decoded by the decoding unit 102 adjacent to the map 51 to generate a display image. The display image further includes buttons 65 and 66 for panning the camera 20 left and right, buttons 63 and 64 for tilting the camera 20 up and down, buttons 61 and 62 for zooming in and out of the camera 20, and the like. You may synthesize | combine suitably.

  An image display device 40 is connected to the output unit 105, and the display image data synthesized by the synthesis unit 104 is output and displayed on the image display device 40. In addition, although the output part 105 demonstrated the case where both the map 51 and the picked-up image 60 were output like the display image data shown in FIG. 3, using a several output part and several image display apparatus, it is a map and The captured images may be displayed separately.

  As the operation unit 106, for example, a mouse or a touch panel provided in the image display device 40 can be used, and any device that can select a position on a map in a display image displayed on the image display device 40 may be used. The operator gives various instructions by operating the operation unit 106 while viewing the display image data displayed on the image display device 40. For example, the position (direction) to be monitored (viewed) on the map by the operator placing the cursor on the position to be monitored (viewed) on the map and pressing the mouse button or directly touching on the touch panel Is selected.

  When the pan control unit 107 detects that the position on the map is selected by operating the operation unit 106, the pan control unit 107 detects the coordinates of the selected position on the map, and reads the detected coordinates from the storage unit 103. Based on the position coordinates of the camera 20, the azimuth from the position of the camera 20 on the map to the selected position is calculated. Then, the pan control unit 107 outputs a pan control signal for panning the camera 20 so that the calculated orientation matches the imaging direction of the camera 20. The pan control signal is transmitted to the camera 20 via the communication unit 101. The camera 20 drives the pan head drive unit 205 according to the pan control signal, and pans the imaging unit 201.

  For example, when the position of the subject 53 is selected on the map 51 shown in FIG. 3, the camera 20 pans so as to face the actual position corresponding to the selected position, and images the subject 53. As a result, as shown in FIG. 4, the subject is displayed in the captured image 60, and the direction B of the camera icon 52 is also directed to the selected position.

  As shown in FIG. 3, the x-axis and y-axis are taken, the position coordinates of the camera 20 on the map are (x0, y0), the coordinates of the selected position on the map are (x, y), and are selected on the map. Θ is obtained by the following equation, where θ is the azimuth of the position viewed from the camera 20. However, the angle criterion is the y-axis on the map, and the clockwise direction is positive.

θ = tan−1 ((x−x0) / (y−y0)) Equation 1

Θ obtained by Equation 1, that is, the absolute angle indicating the imaging direction may be used as the pan control signal, or the difference from the pan data received by the communication unit 101 is taken and the relative angle with the current angle is used as the pan control signal. Also good.

  Further, the pan control unit 107 may output a pan control signal for panning the camera 20 when detecting that the buttons 65 and 66 shown in FIG. 3 are pressed, for example. When the operator presses the buttons 65 and 66, the camera 20 can be panned, and the pan can be finely adjusted.

  The tilt control unit 108 changes the tilt amount of the camera 20 according to the duration of the position selection on the map received by the operation unit 106. When the tilt control unit 108 detects that the position on the map is selected by operating the operation unit 106, the tilt control unit 108 is based on the tilt data received by the communication unit 101 according to the duration of the position selection on the map. A tilt control signal for tilting down the camera 20 is output. The tilt control signal is transmitted to the camera 20 via the communication unit 101. The camera 20 tilts down according to the tilt control signal as shown in FIG. As a result, the position of the subject 53 in the captured image 60 changes as shown in FIG.

  Further, when the tilt control unit 108 detects that the same position is selected again after the position on the map is selected, the tilt control unit 108 receives the tilt received by the communication unit 101 according to the selection time of the position on the map. Based on the data, a tilt control signal for tilting up the camera 20 is output. The tilt control signal is transmitted to the camera 20 via the communication unit 101. The camera 20 tilts up according to the tilt control signal as shown in FIG. As a result, the position of the subject 53 in the captured image 60 changes as shown in FIG. As described above, the tilt control unit 108 tilts up the tilt control signal for tilting down the camera 20 based on the tilt data received by the communication unit 101 every time the same position as the previous time is selected again. The tilt control signal is output alternately. The tilt control unit 108 determines that the position selected on the map is the same position as the previously selected position if the selected position is within a predetermined range centered on the previously selected position. The predetermined range can be set as appropriate.

  Further, after a position on the map is selected, the tilt control unit 108 outputs a tilt control signal for once tilting up or a tilt control signal for setting a predetermined tilt angle when a different position is selected. May be. As a result, an image tilted up to a tilt angle that allows the camera 20 to pan around is output, so that it is difficult to see the image when panning, and it is easy to check the imaging direction and subject.

  Further, for example, when the tilt control unit 108 detects that the buttons 63 and 64 shown in FIG. 3 are pressed, the tilt control unit 108 may output a tilt control signal for tilting the camera 20 up and down. The camera 20 can also be tilted by the operator pressing the buttons 63 and 64, and the tilt can be finely adjusted.

  For example, when the zoom control unit 109 detects that the buttons 61 and 62 illustrated in FIG. 3 are pressed, the zoom control unit 109 outputs a zoom control signal for zooming in and zooming out the camera 20. When the operator presses the buttons 61 and 62, zoom-in and zoom-out of the camera 20 can be controlled, and the size of the subject in the captured image 60 can be finely adjusted.

[Camera control method]
Next, an example of a camera control method using the camera control apparatus 10 according to the embodiment of the present invention will be described with reference to the flowchart of FIG. Here, the initial state of the imaging direction of the camera 20 can be set as appropriate for each camera 20. For example, the vertical direction of the imaging direction of the camera 20 may be set to be horizontal, or may be set to be 30 degrees or 45 degrees below the horizontal.

  (A) In step S1, the output unit 105 shown in FIG. 1 outputs a display image obtained by synthesizing an image captured by the camera 20 and a map indicating an area that can be captured by the camera 20. The display image output from the output unit 105 is displayed on the image display device 40. The operator operates the operation unit 106 to select a predetermined position (direction) on the map in the display image. The pan control unit 107 determines whether the operator has operated the operation unit 106 to select a position on the map. If it is detected that a position on the map has been selected, the process proceeds to step S2.

  (B) In step S 2, the pan control unit 107 detects the coordinates of the selected position on the map, and the detected coordinates, the position coordinates of the camera 20 read from the storage unit 103, and the communication unit 101 receive them. Based on the pan data, a pan control signal is output for panning the camera 20 so that the imaging direction is directed to the actual position corresponding to the selected position on the map. The pan control signal is transmitted to the camera 20 via the communication unit 101. In response to the pan control signal, the camera 20 pans so that an actual position corresponding to the selected position on the map is imaged. Note that when the orientation of the selected position on the map as viewed from the position of the camera 20 on the map matches the imaging direction of the camera 20, the pan control unit 107 does not output a pan control signal.

  (C) In step S3, the tilt control unit 108 counts the time during which the position on the map is selected, reads out the first time (for example, 0.1 second) from the storage unit 103, and displays the position on the map. It is determined whether or not the selected time has continued for the first time or longer. If the selection of the position on the map ends in a time shorter than the first time, the process proceeds to step S7 described later without performing tilt down. By the processing of step S3, for example, when the operator wants to pan only without tilting, if the position on the map is clicked in a time shorter than the first time, only panning is performed without tilting. The operability can be further improved. Note that the process of step S3 can be omitted.

  (D) In step S4, the tilt control unit 108 outputs a tilt control signal for tilting down the camera 20. The tilt control signal is transmitted to the camera 20 via the communication unit 101, and the camera 20 tilts down according to the tilt control signal. In step S5, the tilt control unit 108 determines whether the position selection is continued, and if it is detected that the position selection on the map has been completed, the process proceeds to step S6, where the tilt control unit 108 receives the tilt control signal. Stop sending. Through a series of processes in steps S4 to S6, a tilt control signal is transmitted to the camera 20 until the position on the map is selected, and the camera 20 continues to be tilted down.

  (E) In step S7, the tilt control unit 108 counts the time since the selection of the position on the map is completed, and reads the second time (for example, 10 seconds) from the storage unit 103, It is determined whether the same position as the position selected in step S1 is selected within the second time after the selection of the position is completed. If the same position is not selected within the second time, or if a different position is selected regardless of whether or not the second time has elapsed, the process returns to step S1. For this reason, even if the same position is selected after the second time has elapsed, the tilt is lowered again in step S4. Therefore, the tilt can be continuously lowered without being tilted up, and the operability is improved. Can be improved. In step S7, the process may proceed to step S8 when the same position is selected again regardless of whether or not the second time has elapsed.

  (F) When it is detected in step S7 that the same position is selected within the second time, the tilt control unit 108 outputs a tilt control signal for tilting up the camera 20 in step S8. The tilt control signal is transmitted to the camera 20 via the communication unit 101. In step S9, the tilt control unit 108 determines whether the selection of the position on the map is continued, and when it is detected that the selection of the position on the map is completed, the process proceeds to step S10, where the tilt control unit 108 is tilted. Stop sending control signals. Through a series of processes in steps S8 to S10, a tilt control signal is transmitted to the camera 20 until the position on the map is selected, and the camera 20 continues to be tilted up.

  (G) In step S11, the tilt control unit 108 counts the time after selection of the position on the map, and reads the second time (for example, 10 seconds) from the storage unit 103, It is determined whether the same position as the position selected in step S7 is selected within the second time after the selection of the position is completed. If the same position is not selected within the second time, or if a different position is selected regardless of whether or not the second time has elapsed, the process returns to step S1.

  (H) When it is detected in step S11 that the same position is selected within the second time, the process returns to step S4, and the tilt control unit 108 outputs a tilt control signal for tilting down the camera 20, and tilt Down is done. Therefore, every time the same position on the map is selected, the tilt-down in step S4 and the tilt-up in step S8 are reversed. On the other hand, when returning to step S1, if a position different from the position selected in the previous step S7 is selected, the pan control unit 107 outputs a pan control signal. At this time, the tilt control unit 108 may output a tilt control signal for tilting up the camera when the camera 20 pans (for example, simultaneously with panning).

  In addition, the process of proceeding from step S3 to step S7 described above allows the operator to perform tilt-up instead of tilt-down together with the pan of the camera 20, and operability can be further improved. For example, if the operator cancels the first click within 0.1 seconds and then performs a second click at the same position on the map within 10 seconds, the first click causes the camera 20 to only pan. Only the tilt up can be performed by the second click.

[Camera control program]
The configuration of the camera control device 10 is realized, for example, as hardware by a CPU (Central Processing Unit), a memory, or other LSI (Large Scale Integration) of an arbitrary computer. Similarly, the configuration of the camera control device 10 can be realized by, for example, a program loaded in a memory as software. The above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

  For example, this program may be stored in the storage unit 103 and read by a computer, or may be transmitted via a communication network and taken into the computer. The program may be stored in a computer-readable recording medium, and the recording medium may be read into the storage unit 103.

  As described above, according to the camera control device 10, the camera control method, and the camera control program in the camera control system according to the embodiment of the present invention, the position on the map of the display image output by the output unit 105 is selected. In this case, since it is possible to perform tilting continuously (interlocking) with the pan of the camera 20, the operator can easily and intuitively control the pan and tilt of the camera 20.

  Further, every time the same position on the map of the display image output from the output unit 105 is selected, the camera 20 is finely adjusted so as to obtain an appropriate imaging direction by being reversed and tilted up and down. Can be done easily and intuitively.

(Other embodiments)
As described above, the present invention has been described according to the embodiment. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, the case where the pan control unit 107 pans the camera 20 in step S2 and the tilt control unit 108 tilts the camera 20 in step 4 has been described. However, the pan control unit 107 pans the camera 20 in step 2. After panning, the tilt control unit 108 may tilt the camera 20 down in step S4.

  In addition, the case where the tilt control unit 108 tilts the camera 20 down in step S4 and the tilt control unit 108 tilts up the camera 20 in step S8 has been described. However, the tilt control unit 108 reverses the tilt direction and the tilt control unit in step S4. 108 may tilt up the camera 20, and the tilt control unit 108 may tilt down the camera 20 in step S8. In this case, every time the tilt control unit 108 pans to a position different from the previous time, it may be tilted down.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 10 ... Camera control apparatus 20 ... Camera 30 ... Network 40 ... Image display apparatus (display part)
DESCRIPTION OF SYMBOLS 51 ... Map 52 ... Camera icon 53 ... Subject 60 ... Captured image 61, 62, 63, 64, 65, 66 ... Button 101 ... Communication part 102 ... Decoding part 103 ... Memory | storage part 104 ... Composition part 105 ... Output part 106 ... Operation 107: Pan control unit 108 ... Tilt control unit 109 ... Zoom control unit 201 ... Imaging unit 202 ... Compression unit 203 ... Communication unit 204 ... Control unit 205 ... Pan head drive unit 206 ... Pan angle sensor 207 ... Zoom drive unit 208 ... Zoom sensor 209 ... Tilt angle sensor 210 ... Zoom lens

Claims (7)

A storage unit for storing a map showing an area that can be imaged by the camera;
An output unit for displaying a map stored in the storage unit on a display unit;
An operation unit for receiving selection of a position on the map displayed on the display unit;
A pan control unit that pans the camera so as to image a subject in the direction of an actual position corresponding to the selected position when the operation unit receives a selection of a position on the map;
A camera control apparatus comprising: a tilt control unit that changes a tilt amount of the camera according to a duration of selection of a position on the map received by the operation unit.   The camera control apparatus according to claim 1, wherein the tilt control unit tilts the camera down when the time when the position on the map is selected is equal to or longer than a first time.   The camera control apparatus according to claim 1, wherein the tilt control unit tilts the camera after the pan control unit pans the camera.   4. The tilt control unit according to claim 1, wherein each time the same position on the map is selected, the tilt control unit reverses tilt up and tilt down of the camera. Camera control device.   The tilt control unit tilts the camera down when the same position on the map is selected again after a second time has elapsed since the selection of the position on the map is completed. The camera control device according to any one of claims 1 to 3. A storage step of storing a map showing an area that can be imaged by the camera;
An output step of causing the display unit to display the map stored in the storing step;
An operation step of accepting selection of a position on the map displayed on the display unit;
A pan control step for panning the camera so as to image a subject in the direction of the actual position corresponding to the selected position when the selection of the position on the map is accepted in the operation step;
And a tilt control step of changing a tilt amount of the camera in accordance with a duration of position selection on the map received in the operation step. A storage function for storing in the storage unit a map showing an area that can be imaged by the camera;
An output function for causing the display unit to display a map stored in the storage unit;
An operation function for receiving selection of a position on a map displayed on the display unit;
A pan control function for panning the camera to image a subject in the direction of an actual position corresponding to the selected position when selection of a position on the map is accepted by the operation function;
A camera control program for causing a computer to realize a tilt control function for changing a tilt amount of the camera according to a duration of selection of a position on a map received by the operation function.

Images