The purpose of the present invention is to reduce the processing load when positioning a pedestrian using a camera image obtained by capturing an image of a road surface on which the pedestrian passes. A pedestrian terminal (1) is provided with: a camera (11) that generates an underfoot camera image and a pedestrian surrounding camera image; and a memory (17) that stores road surface registration information in which road surface camera images at registration locations and location information thereof are associated, and stationary object registration information. The fixed object registration information is information in which feature information of a fixed object in a peripheral camera image obtained by shooting the periphery is associated with position information of the fixed object; and a processor (18) that performs pre-positioning of the pedestrian using position information in the fixture registration information by comparing feature information of an object extracted from the camera image around the pedestrian with feature information of the fixture, and performs pre-positioning of the pedestrian using position information in the fixture registration information. Each of the comparison candidate images extracted from the road surface camera image on the basis of the result of the pre-positioning is compared with the underfoot camera image, and the position information of the registration location associated with the successfully compared comparison candidate image is acquired as the position information of the current location of the pedestrian.
减轻使用拍摄行人通行的路面所得到的摄像机图像来进行行人的定位的情况下的处理负荷。行人终端(1)具备:摄像机(11),其生成脚下摄像机图像和行人周围摄像机图像;存储器(17),其存储路面登记信息和固定物登记信息,所述路面登记信息是将登记地点的路面摄像机图像与其位置信息分别建立了关联的信息,所述固定物登记信息是将拍摄周边所得到的周边摄像机图像中的固定物的特征信息与其位置信息建立了关联的信息;以及处理器(18),其中,处理器通过从行人周围摄像机图像提取出的物体的特征信息与固定物的特征信息的比较,来使用固定物登记信息中的位置信息执行行人的预定位,将基于预定位的结果从路面摄像机图像中提取出的各对照候选图像与脚下摄像机图像分别进行对照,获取与对照成功的对照候选图像建立了关联的登记地点的位置信息来作为行人的当前所在地的位置信息。
Pedestrian device and positioning method thereof
行人装置及其定位方法
2024-03-01
Patent
Electronic Resource
Chinese
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