Robot camera control apparatus, its program and multi-viewpoint robot camera system

摘要

PROBLEM TO BE SOLVED: To provide a multi-viewpoint robot camera system capable of accurately performing direction control of each robot camera by calculating an actual position of a rotation center of a platform on which each robot camera is mounted.SOLUTION: A multi-viewpoint robot camera system 100 comprises: an operation interface unit 10 for calculating a depth value obtained by non-linearly changing an encoder value; a camera calibration unit 20 for calculating a camera parameter and a rotation center of a platform on which each robot camera is mounted by camera calibration; a master camera control unit 30 for controlling the posture of a master camera MC; a fixation point calculation unit 40 which calculates a unit vector on the basis of difference between a camera posture of the camera calibration result and that at imaging time, and calculates a position of a fixation point by adding the product of the calculated unit vector and depth value to the rotation center of the platform; and a slave camera control unit 50 for controlling the posture of a slave camera SC so as to direct the slave camera to the fixation point.