Abstract: The present invention uses invisible junctions which are a set of local features unique to every page of the electronic document to match the captured image to a part of an electronic document. The present invention includes: an image capture device, a feature extraction and recognition system and database. When an electronic document is printed, the feature extraction and recognition system captures an image of the document page. The features in the captured image are then extracted, indexed and stored in the database. Given a query image, usually a small patch of some document page captured by a low resolution image capture device, the features in the query image are extracted and compared against those stored in the database to identify the query image. The present invention also includes methods for recognizing and tracking the viewing region and look at point corresponding to the input query image.

Abstract: A surveillance method periodically detects an image of the area, identifies and tracks each moving object in a succession of the detected images, detects radio frequency emissions from the area and correlates an identified object with a detected radio frequency emission. The method detects events in the tracking of the moving object. The method stores corresponding data optionally including image data in non-volatile memory upon detection of a combination of an event and a corresponding radio frequency emission. The method triggers an alarm such as an audible alarm, a visual alarm, an email, a short text message or a telephone call detection of a combination of an event and a corresponding radio frequency emission.

Abstract: An image displaying system for displaying an image operable to change a displayed image according to a direction of a image displaying apparatus, including: an image storing unit storing thereon the image; a displaying unit operable to display the image, the displaying unit being carried by a user; a photographing unit operable to photograph exterior as a plurality of photographed images, the photographing unit being carried with the displaying unit all together; a travel distance computing unit operable to compute a travel distance of the displaying unit by analyzing the plurality of photographed images which are photographed by the photographing unit at different times; and a display control unit operable to change the image, which is different from the photographed images, based on the travel distance computed by the travel distance computing unit and to causes the displaying unit to display the image.

Abstract: A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera (1) for capturing a 2-dimensional (or 3-dimensional) image (4) including at least a part of the real object (3), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object (3) and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object (5) as included in the 2-dimensional (or 3-dimensional) image (4), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (3).

Abstract: The invention relates to a method and a device for the scanning of a document by means of a line camera which has several scan lines and therefore generates several images independent of one another. Due to the spacing of the separate scan lines, these images are offset relative to one another. This offset also depends on the speed at which the line camera is moved relative to the document. According to the invention the separate images are brought into congruence by being shifted towards one another according to the whole-number content of Z, with at least one of the images being interpolated into the other image in accordance with the decimal place content of Z. The method according to the invention may be used to scan a document at a freely selectable scanning speed. The device according to the invention may be inserted as a module in an existing scanner.

Abstract: An inspection system for flat objects, especially wafers and dies, comprising: a handling system for loading objects into the inspection system; a sensor assembly for receiving images or measuring values of the object surface or parts of the object surface; a driving assembly for generating a relative movement between the objects and the sensor assembly, where a movement is effected between objects relative to the sensor assembly along a first trajectory; wherein at least one further sensor assembly is provided, and the driving assembly is adapted to generate a further relative movement, where a movement of different objects relative to the sensor assembly can be generated on at least a second trajectory in order to allow at least two objects to be treated simultaneously.

Abstract: A sign recognition device includes a sign effective range data recording unit for prestoring effective range conditions shown by a sign and an auxiliary sign, a sign recognition unit for recognizing a sign and an auxiliary sign by using a captured image of a roadway in front of a vehicle, a vehicle information acquiring unit for acquiring vehicle information, a map information acquiring unit for acquiring map information about a map of an area surrounding the vehicle, and a sign effective range determining unit for determining whether or not the vehicle is staying in the effective range specified with the sign and the auxiliary sign which have been recognized by the sign recognition unit by using the effective range conditions stored in the sign effective range data recording unit, the vehicle information, and the map information.

Abstract: The present invention features a qualitative method to detect independent motion revealed in successive frames of a compressed surveillance MPEG video stream using linear system consistency analysis without decompression of the stream, identifying the segments containing independent motion in a real-time or faster manner, for the retrieval of these segments. The linear system is constructed using the macroblocks of MPEG compressed video frames. The normal flow value of the macroblock is obtained by taking the dot product between the macroblock gradient vector, computed by averaging the four block gradient vectors, and the motion vector of this macroblock. The normal flow value is filtered for inclusion in the linear system, and the statistic of the matrices of the resulting linear system is determined, filtered to screen out false negatives and outliers, and used to determine the presence or absence of independent motion.

Abstract: A device for visually recording two-dimensional or three-dimensional objects, which comprises a camera for recording images of the two-dimensional or three-dimensional object and which is provided with, can be connected to or is connected to at least one evaluation unit for evaluating the recorded images. A single camera and at least one adjustable or pivotal mirror element are provided. According to the method for visually recording two-dimensional or three-dimensional objects while using a device of the aforementioned type, a camera and at least one adjustable mirror element are arranged relative to one another so that the objects to be recorded are situated in the coverage area of the at least one mirror element. The adjustable mirror element for recording the objects to be recorded is displaced or pivoted about one or two axes with an adjustable velocity.

Abstract: A suntracking system for a central receiver solar power plant includes a heliostat field for reflecting sunlight to a receiver, cameras directed toward at least a subset of the heliostats, and a controller. The cameras are configured to produce images of sunlight reflected from multiple heliostats. The heliostats include a mirrored surface having a settable orientation and have a geometry modeled by a set of parameters. A method of estimating heliostat parameters for open-loop suntracking includes acquiring pointing samples by setting the direction of reflection of the heliostats and detecting concurrent sunlight reflections into the cameras. The method uses the acquired pointing samples and surveyed locations of the cameras to estimate the heliostat parameters. The method accurately maintains the sun's reflection directed toward the receiver open-loop utilizing the estimated tracking parameters.

Abstract: Improvements to projectile devices (particularly air guns) include techniques for measuring and controlling the velocity of projectiles in the barrel and after leaving the barrel, allowing the use of non-toxic projectiles. Tracking of a projectile's flight by its unique sound and/or its unique electromagnetic signal or signal modulation are also provided, along with after-barrel guidance that can be used to improve accuracy. Control for discriminating between authorized and unauthorized users is also provided. A projectile device can also be used for inexpensive and harmless practice using optical and/or acoustic information gathered by targeting and imaging systems built into the device.

Abstract: The present invention provides an inspection device including an imaging unit 16 for imaging an object to be inspected, a characteristics measurement unit 15 for measuring characteristics of the object to be inspected, an inspection information acquisition unit 11 for acquiring inspection information related to the object to be inspected, a condition determination unit 12 for determining measurement information related to a measurement condition of the object to be inspected corresponding to the inspection information, an imaging control unit 14 for controlling imaging by the imaging unit, and a measurement control unit 13 for controlling measurement by the characteristics measurement unit based on the measurement information.

Abstract: The invention relates to a method for determining a speed of a vehicle (1), whereby at least two images (A, B) of an area surrounding the vehicle are recorded in time succession using a camera on the vehicle (1), and between the images (A, B) changes (2) in a position and/or a size of at least one object (X) contained in the images (X) are determined, and from the changes, a speed of the vehicle (1) is determined relative to the object (X).

Abstract: A video system for intelligent visual display includes a video camera having an imager that produces a first set of image data representing an image of a scene. Video analytics receive and analyze the first set of image data to track an object. The video analytics generate metadata synchronized to the first set of image data and representing location information of an image of the object in the image of the scene. A display management module receives the first set of image data and the metadata and uses the metadata to derive from the first set of image data a second set of image data representing a cropped close-up image of the object. The second set of image data is distinct from the first set of image data to enable separate display presentation of the cropped close-up image and the image of the scene.

Abstract: An imaging system comprises a rolling-reset imager that forms an electronic image of an object, a light source illuminating the object with pulsed light, and a bandpass optical filter disposed between the object and the rolling-reset imager. The pulsed light has an illumination frequency spectrum and an illumination pulse width defining an effective exposure time for forming the image of the object. The bandpass optical filter has a frequency pass band permitting transmission of a significant portion of the illumination frequency spectrum while at least approximately inhibiting transmission of at least some light having frequencies outside the illumination frequency band. An imaging method illuminates an object with light in a given frequency range, so that the illumination light reflects from the object along with background light. The method filters the reflected light so as to attenuate at least some of the background light by a greater attenuation factor than the illumination light.

Abstract: Systems and methods are provided for controlling a portable electronic device. The device includes a built-in image capturing device. The system detects, through the image capturing device, motions of user finger over the image capturing device. The system determines a pattern of the detected motions using timing information related to the detected motions, and controls the portable electronic device based on the determined pattern. The system also receives inputs from other input devices associated with the portable electronic device, and controls the device based on combination of the determined pattern and the received inputs.

Abstract: An apparatus and method to track and to photograph a mobile object over a wide range, by a cooperative operation of multiple cameras. In addition, a mobile tracking system is provided for tracking the mobile object by the cooperation of multiple cameras, in which each camera includes a photographing device which photographs and recognizes the mobile object, a changing device which changes a view angle of the photographing device, a position deriving device which derives a position of the camera, a distance deriving device which derives the distance between the camera and the mobile object, and a communication device which transmits an identifier of the camera, a position of the camera, a moving direction of the mobile object and the distance between the camera and the mobile object to another camera and receives an identifier of the other camera, a position of the other camera, a moving direction of the mobile object and a distance between the other camera and the mobile object from the other camera.

Abstract: An image capturing terminal includes an image capturing unit, a sensor, a calculation unit, and an addition unit. The image capturing unit captures an object and generates an image. The sensor acquires information on a movement from a first image capturing position to a second image capturing position. The calculation unit calculates a relative position of a second image capturing position with reference to the first image capturing position based on the information on movement. The addition unit adds information that indicates the relative position to the image captured in the second image capturing position.

Abstract: A method for monitoring stress on a wind turbine blade during loading is disclosed. The method includes capturing multiple images at respective locations of the blade. The method also includes measuring temperature at the respective locations based upon captured images. The method further includes calculating stress applied on the blade at the respective locations based upon the measured temperature.

Abstract: A method, tool, and device for determining the coordinates or a plurality of points on a substantially plane surface by means of an accelerometer and a camera. The coordinates of each point are computed by determining a perpendicular projection of the camera onto the surface, identifying each point, measuring an inclination (the angle between the line of sight of the camera and gravity) using the accelerometer, and determining an azimuth (the angle of the line of sight of the camera around gravity).

Abstract: A method and apparatus for measuring the vibration characteristics of an object is disclosed. The method includes illuminating the object using at least two light sources, the at least two light sources emitting light of distinct colors wherein each of the at least two light sources are strobed at a respective delay, capturing reflected light from the object to result into one image of the object, the image including at least two distinguishable color channels capable of distinguishing the distinct colors of the light, and processing the image to compute the vibration characteristics associated with the object from positions of the points on the object in the at least two distinguishable color channels of the image.

Abstract: An object detection device, including: an imaging unit (400) that is mounted on a movable body; an object detection unit (201) that calculates an image displacement of a partial image between two images captured by the imaging unit (400) at different times, and performs detection processing to detect an object in an image based on at least the image displacement; and a control unit (201) that changes a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body.

Abstract: Included are embodiments for providing communications data. At least one embodiment of a method receiving data associated with a communications session, the communications session including a first communications stream and a second communications stream, wherein the first communications stream and the second communications stream are received in a receiving order and recording at least a portion of the communications session. Some embodiments include receiving a request to provide, from the recording, at least a portion of the first communications stream in a visual format and providing at least a portion of the first communications stream in the visual format.

Abstract: In the creation of video program material, picture composition decisions—especially framing parameters—taken by an operator for small-display presentation of a scene are used the automatic generation of picture composition decisions for a larger display. Framing parameters such as pan, are temporally filtered before being applied to the wider field of view provided for the larger display.

Abstract: A method, system, and computer program product for implementing image capture and display services are provided. The system includes an enclosure having an opening through which a subject enters, an imaging system encircling the enclosure, a computer processor device communicatively coupled to the imaging system, and an application executing on the computer processor device. The system also includes an image capture activation component in communication with the computer processor device and a display device in communication with the computer processor device. In response to activating the image capture activation component, the application issues a first command to the imaging system, the first command causing the imaging system to capture images of the subject in the enclosure.

Abstract: An object management apparatus comprising an image photographing unit, a storage unit, and a control unit communicably connected to at least one operation target device and a mobile terminal including a displacement detecting unit that detects a displacement of a physical quantity caused when the mobile terminal moves and a display unit via a network, wherein the storage unit includes, a display object storing unit, an operation target object storing unit, and a processing command storing unit, and the control unit includes, a display object transmitting unit, a mobile terminal position acquiring unit, an region determining unit, an operation target object determining unit, a processing command determining physical quantity displacement receiving unit, a display object acquiring unit, a processing command searching unit, and a processing command executing unit.

Abstract: The present invention discloses a method and system for implementing a three-dimension positioning. The method comprises: receiving, by an optical sensor, infrared rays emitted from an infrared reference light source; and determining a position of the optical sensor with respect to the infrared reference light source based on attributes of the infrared reference light source in images obtained by the optical sensor, so as to implement a three-dimension relative positioning of the optical sensor. The method and system determine the position of the optical sensor with respect to the infrared reference light source by means of the attributes of the infrared reference light source in the images, which are simple in implementation, of a relatively low cost and can provide an excellent positioning function for application contexts of relative positioning (such as immersive video), which greatly improves the experience of a user.

Abstract: An apparatus (10) for assessment, evaluation and grading of gemstones has a stage (11) upon which a gemstone may be supported. The stage is enclosed in a housing (15) that is impervious to light. There is at least one light source (14) located in the housing which is adapted to project incident light onto the gemstone. Means for rotating and tilting the stage so as to vary the orientation of the gemstone to the incident light are also present. A digital camera (16) is located in the housing adjacent the or each light source and is adapted to take images of the gemstone based on reflection and/or refraction of the incident light. The apparatus also includes information processing means for calibrating and analysing the images. The information processing means is programmed with instruction sets for assessing one or more of colour, cut, clarity, scintillation, brilliance, lustre, dispersion and sheen. The gemstone is supported upon the stage by securing means (17) engaging the gemstone at its bottom surface.

Abstract: A target position identifying apparatus includes a color difference converting section for processing pixel values of an image of a target comprised of combination of a first color and a second color obtained from the target under influence of ambient light, thus generating a color component value of the first color, a color component value of the second color and a luminance value, a color region determining section for determining region of the first color and region of the second color, based on the first color component value and the second color component value, with using a determination condition based on either luminance of the captured image or the luminance value, a border detecting section for detecting border between the first color and the second color in the target based on result of the determination by the color region determining section and a target position calculating section for calculating the position of the target on the image based on result of the border detection by the border detec

Abstract: An image capture device, including: a motion vector detection unit that detects a motion vector of a plurality of successive images; a determination unit that determines whether the motion vector detected by the motion vector detection unit is of a predetermined amount or more in a fixed direction; and a warning unit that issues a warning when the determination unit determines that the motion vector is of the predetermined amount or more in the fixed direction.

Abstract: A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

Abstract: A method of estimation of the direction of the line of sight comprising forming at least two images representing one and the same portion of the scene (P) at two successive instants using an instrument mounted on a moving carrier, and the determination of the change of orientation of the line of sight by matching homologous points (A1, A2) in the two images of the same portion of scene by calculating the angular variations in attitude between the two instants at which the two successive images are obtained and by correcting on the basis of the deviation, between the estimate of the point (A2) homologous in the image provided by a model, and the actual position of the homologous point, and integrating and time filtering pertaining to a sequence of several successive determinations of attitude variations, leading to an estimate of the direction of the line of sight.

Abstract: It is provided a method for conveying data on a flying object in a scene. The method including capturing video frames of the scene by video cameras to get video frames which include image of the object, identifying the object in captured video frames to get associated object parameters, calculating motion variables, solving motion equations for anticipated object trajectory taking into account certain effects, and conveying data to displaying devices. The certain effects are an effect of object collision with a ground surface, air friction, wind effect, and interaction of a spinning object with air. The method may be applied to a ball in a sporting playing field. The cameras may have variable operating parameters desirable for the calculating the motion variables, which may be determined by camera calibration using captured artifacts of the scene. Shadow of the object may be captured as well and be used to provide data absent due to occluding a of the object from a video camera.

Abstract: An apparatus and method automatically adjusts a current position of a microphone to a voice reception position for receiving optimal voices from a speaker. A scene image in front of the microphone is captured by an image capturing unit of the apparatus at a predetermined interval. The apparatus analyzes the scene image to determine whether the scene image includes a face image of the speaker, and detects a position of a mouth of the speaker based on the face image. The voice reception position is calculated according to the position of the mouth of the speaker and a standard position stored in a storage system. A driving command is generated to control a driver to adjust the current position of the microphone to the voice reception position.

Abstract: To provide a vehicle monitor apparatus capable of acquiring more information through effective utilization of an image taking region of a camera on the occasion of taking interior and exterior images of a vehicle with the camera. A vehicle monitor apparatus 1 is provided with a drive recorder 11 and a reflecting mirror 12. The drive recorder 11 is provided with a camera 14 and the camera 14 is arranged to take a forward image of the vehicle 2. In an image taking region of the camera 14, the reflecting mirror 12 is located in a range where a hood 23 should be imaged if the reflecting mirror 12 were excluded, and the camera 14 takes an image of an exterior situation outside the vehicle viewed through a windshield 22, and an image projected by the reflecting mirror 12.

Abstract: An image measuring apparatus includes an image capturing controller, a location obtainer, a combined-image generator, an error calculator, an image measurer, and a corrector. The image capturing controller causes relative movements between a measured object and an image capturer. The location obtainer acquires a location at which the image capturer captures an image of the measured object. The combined-image generator forms a combined image by superposing the images captured by the image capturing controller. The error calculator calculates, for each of combining sections, an error that occurs at a combining section when the combined image is formed, based on the location acquired by the location obtainer. The image measurer measures the measured object, based on the number of pixels in the combined image. The corrector corrects measurement results of the image measurer, based on the error for each of the combining sections calculated by the error calculator.

Abstract: A back-lit vision machine apparatus is described that includes an imaging sensor for imaging an object. A radiation source for generating radiation having a first property and a radiation converter for converting radiation having the first property into radiation having a second property are also provided. The radiation source is arranged to project radiation having the first property onto the radiation converter thereby producing radiation having the second property, whilst the radiation converter is arranged to illuminate an object to be imaged by the imaging sensor with radiation having the second property. An object to be imaged is locatable between the radiation converter and the imaging sensor and such an object is thus back-lit by radiation having the second property produced by the radiation converter. The radiation source is arranged to project radiation having the first property onto the object to be imaged and onto the radiation converter.

Abstract: A method and a device for the optical scanning of a document by means of a line camera in which the document may be scanned at variable speed. Since on the one hand a line frequency by which the individual lines are scanned is based on the speed of movement, and on the other hand binning is carried out automatically on the basis of the speed of movement, wherein the line frequency is multiplied by a binning factor n, it is possible for a document to be scanned very easily and simply over a wide speed range. Color values are preferably corrected by means of an amplification factor, so that the brightness of the images produced by this means is constant over the whole speed range.

Abstract: A face authentication system includes a data input section for obtaining three-dimensional data concerning a face area of a subject at multiple points, and a processor for performing a registration process or a verification process of authentication data of the subject based on the three-dimensional data. The processor has a quality rater for rating a quality of the three-dimensional data with respect to each of the points of the three-dimensional data to generate quality data, and a quality distribution deriving section for deriving a distribution of the quality with respect to the face area, based on the quality data.

Abstract: A positioning device comprising: a movement measurement unit that measures relative position variation; a positioning unit that enables measurement of positional information; and a control unit that starts continuous measurement of position variation by the movement measurement unit and measurement of positional information by the positioning unit at each predetermined timing for at least a specified position, and determines a position determination spot based on positional information of any of the at least two positions in a case that the difference between the amount of position variation and the amount of relative position variation is determined by the determining unit to be within a predetermined range, and calculates positional information of the specified position based on positional information of the position determination spot and information of position variation that has been continuously measured by the movement measurement unit.

Abstract: An image based object detection system and method having a range finder are provided. The system includes an illuminator located on a vehicle to generate an illumination beam in a coverage zone relative to the vehicle. The system also includes an optics device spaced from the illuminator for collecting reflected illumination from one or more objects in the coverage zone and an imager comprising an array of pixels for receiving images from the coverage zone via the optics device. The imager captures images from the coverage zone and the collected reflected illumination from the objects in the coverage zone. The system further includes a processor for processing the received images and the reflected illumination signals. The processor determines range to an object in the coverage zone based on a location of the pixels in the imager detecting the reflected illumination.

Abstract: An apparatus extracts a template pattern from first data, and seek an area having a correlation with the template pattern among areas in second data to obtain an amount of movement of an object, and corrects the amount of movement by using a shift amount of the object during a time lag between the generation timing of a trigger signal for acquiring data by using a sensor, and the imaging timing.

Abstract: A detection apparatus, a detection method and a computer readable medium thereof for detecting an object in real time are provided. The detection apparatus is electrically connected to a video capturing apparatus for capturing a video sequence comprising the object. The detection apparatus generates a first transformed frame and a second transformed frame according to the video sequence, and retrieves a plurality of target pixel bits and a plurality of adjacent pixel bits from the first transformed frame. The detection apparatus further interlaces the target pixel bits and the adjacent pixel bits to enhance the accuracy of determining the position where the object appears in the second transformed frame without considerably increasing the computational complexity.

Abstract: Systems, methods, and devices are disclosed which allow for remote mouse input from a portable network device to an external interface device using optical flow sensors detecting motion of the portable mouse device. Various techniques include systems, methods, and devices which manage this remote mouse input connection between one portable network device and multiple external interface devices, and between one external interface device and multiple portable network devices.

Abstract: An exemplary method for processing and outputting video frames includes receiving a stream of video frames, inserting geo-location data into a video frame to generate a modified video frame, and outputting the modified video frame. An exemplary system includes an antenna which receives a stream of video frames, a processor which inserts geo-location data into a video frame to generate a modified video frame, and an output for outputting the modified video frame.

Abstract: In a method and an apparatus for identifying, measuring and assessing anomalies in the behaviour of streams of people or objects, anomalies are identified, measured and assessed reliably and in all of their possible forms. At least one group in a stream of people or objects is statically identified at a particular time, the group is observed in a time profile, the group speed is measured and the streams of people or objects are assessed using the group speed. Various methods for detecting the group speed and various cases for assessing the group speed are shown. The method and apparatus is suitable for observing object streams in order to prevent accidents, for example.

Abstract: The invention relates to a method and an apparatus for processing a workpiece, such as a wall, a ceiling, a floor or the like in a building, by means of an appliance which can be moved, in particular an electric tool, wherein the appliance can be moved to at least one predeterminable nominal position. Essentially continuous position identification, in particular by means of optical methods, is carried out for the respective actual position of the appliance and/or of an object which can be moved corresponding to the appliance. The position information, such as the coordinates of the respective determined actual position and/or information relating to any, discrepancy between the nominal position and the actual position, is transmitted wirelessly to the appliance. The respective position information is indicated to the user on the appliance, for manual position control.

Abstract: The invention relates to an electrical machine tool, particularly a hand machine tool, having a contrast detection device, an analysis unit, and at least one sensor provided for capturing a surface of a work piece. According to the invention, the analysis unit is provided for detecting a differentiation of the surface from an at least partially automatic guide using data captured by means of sensor.

Abstract: An imaging position determining method includes: an imaging process and an imaging position determination process. The imaging process includes acquiring images by picking up images in a plurality of predetermined imaging positions by an imaging unit. The imaging position determining process includes: comparing an image picked up by the imaging unit in any of the imaging positions with previously stored images; and determining a current imaging position by using a correlation calculated values obtained between the compared images.

Abstract: An image measuring apparatus includes a strobe illumination unit, a camera, a movement mechanism, and a controller. The controller includes a focus position detector that detects the focus position of the camera by controlling the movement mechanism to move the camera along the optical axis of the camera at a predetermined velocity and by controlling the camera to pick up an image of a measurement target object at plural positions. The focus position detector includes an illumination control unit that controls the lighting time of the strobe illumination unit, thereby controlling the brightness of illumination, a relative position acquisition unit that acquires the position of the camera at the center of the lighting time, and a contrast detection unit that detects the contrast of the image picked up by the camera.