Imaging control device, imaging system, and imaging control method

An imaging control device that controls imaging of a moving object comprising a camera, the imaging control device comprising:

• a processor configured to cause the device to:
• acquire a wide-angle image acquired by capturing a whole image of an imaging target in a wide-angle imaging mode;
• acquire imaging information relating to a number of images or an imaging angle of view of a plurality of divided images acquired by capturing a part of the whole image of the imaging target in an imaging mode with the camera of the moving object;
• acquire margin information relating to a margin in a case where the plurality of divided images are composed to generate a composite image of the imaging target;
• acquire imaging target region information relating to a region of the whole image of the imaging target;
• calculate an imaging region of each of the divided images constituting the composite image as each imaging region in the wide-angle image, in which the margin is secured, based on the imaging information, the margin information, and the imaging target region information;
• move the moving object, makes the moving object image each calculated imaging region in the imaging mode with the camera, and acquires captured images as the divided images,
• compare an image corresponding to each imaging region of the acquired wide-angle image with an image captured in the imaging mode with the camera, and
• estimate a position of the moving object based on the comparison of the acquired wide-angle image with the image captured in the imaging mode with the camera, and controls a position of the moving object based on the position estimated where the camera is made to image each imaging region in the imaging mode.