To correctly superpose and draw an autonomous traveling trajectory on a remote control screen when a moving entity capable of autonomously traveling is remotely controlled.SOLUTION: A moving entity remote control system includes: holding trajectory information representing an autonomous traveling trajectory of a moving entity, and camera information containing a position, orientation, and viewing angle of a camera mounted in the moving entity; storing the received position of the moving entity and its acquisition time; displaying the received image and storing a shooting time upon receipt of an image shot by the camera and its shooting time; estimating a position and orientation of the moving entity at the shooting time of the image on the basis of the shooting time of the image and the position of the moving entity at each acquisition time; specifying a portion included in the range of the image in the trajectory on the basis of the estimated position and orientation of the moving entity; converting a coordinate of the specified portion of the trajectory to a coordinate on the image and displaying an image in which the trajectory is superposed on the converted position of the coordinate on the basis of the trajectory information, the camera information and the estimated position and orientation of the moving entity.SELECTED DRAWING: Figure 3

    【課題】自律走行が可能な移動体を遠隔操作するときに、自律走行軌道を遠隔操作画面に正しく重畳描画する。【解決手段】前記移動体の自律走行軌道を示す軌道情報と、移動体に設置されたカメラの位置、向き及び視野角を含むカメラ情報と、を保持し、前記受信した移動体の位置及びその取得時刻を格納し、カメラによって撮影された画像及びその撮影時刻を受信すると、受信した画像を表示し、撮影時刻を格納し、画像の撮影時刻と、取得時刻ごとの移動体の位置とに基づいて、画像の撮影時刻における移動体の位置及び向きを推定し、軌道情報と、カメラ情報と、推定された移動体の位置及び向きと、に基づいて、軌道のうち画像の範囲内に含まれる部分を特定し、軌道情報と、カメラ情報と、推定された移動体の位置及び向きと、に基づいて、軌道の特定された部分の座標を画像上の座標に変換して、変換された座標の位置に軌道を重畳した画像を表示する。【選択図】図3


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    Title :

    MOVING ENTITY REMOTE CONTROL SYSTEM AND MOVING ENTITY REMOTE CONTROL METHOD


    Additional title:

    移動体遠隔操作システムおよび移動体遠隔操作方法


    Contributors:
    KUBO HIROYUKI (author) / ENDO HIDEKI (author) / YUZUKI SHOJI (author)

    Publication date :

    2019-01-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / H04Q Wähltechnik , SELECTING



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