Semiconductor device, imaging system, and program

A program allowing a computer to execute the following methods, the methods comprising:

• obtaining, when allowing a camera to image an object whose relative position with the camera changes, distance data containing information related to the relative position at every preliminarily-set time;
• outputting a trigger signal to start a series of processes for deciding the imaging conditions of the camera;
• deciding an imaging estimated time for the camera in accordance with the trigger signal;
• obtaining distance data containing information related to the relative position at every preliminarily-set time and deciding a subject on the basis of the distance data in accordance with the trigger signal;
• calculating the moving vector of the subject on the basis of a plurality of pieces of distance data obtained at a plurality of different times;
• calculating subject position estimation data that is a relative position between the camera and the subject at the imaging estimated time on the basis of the moving vector;
• deciding the imaging conditions at the imaging estimated time on the basis of the subject position estimation data, and
• instructing the camera to image at the imaging estimated time in accordance with the decided imaging conditions.

A semiconductor device comprising:

• a first interface configured to obtain, when allowing a camera to image an object whose relative position with the camera changes, distance data containing information related to the relative position at every preliminarily-set time;
• a memory configured to store the obtained distance data;
• a processor configured to output a trigger signal to start a series of processes for deciding the imaging conditions of the camera;
• and
• an image processing circuit configured to:
• decide an imaging estimated time for the camera in accordance with the trigger signal;
• obtain distance data containing information related to the relative position at every preliminarily-set time;
• decide a subject on the basis of the distance data stored in the memory in accordance with the trigger signal;
• calculate the moving vector of the subject on the basis of a plurality of pieces of distance data obtained at a plurality of different times;
• calculate subject position estimation data that is a relative position between the camera and the subject at the imaging estimated time on the basis of the moving vector;
• decide the imaging conditions at the imaging estimated time on the basis of the subject position estimation data;
• and
• instruct the camera to image at the imaging estimated time in accordance with the decided imaging conditions.