JP2008500561A - MAP DATA CREATION DEVICE, MOBILE BODY HAVING THE SAME, AND MAP DATA CREATION METHOD - Google Patents

Abstract

A camera that captures the surroundings, a GPS receiving unit, a map information storage unit that stores map information, and a control unit that controls the operation of each unit are provided. With this control unit, image data captured by the camera is received by GPS. The map data is created by associating the image data associated with the position information detected by the image capturing unit with the map information and associating the image data with the position information. Thereby, the map data which linked | related the surrounding image image | photographed during the movement and map information can be produced.

Description

  The present invention relates to a map data creation device that creates map data that associates map information with surrounding images taken during movement, a mobile body including the map data creation method, and a map data creation method.

  Conventionally, navigation devices that are mounted on moving means such as automobiles and display map information, position information, and the like have been widely used.

  A navigation device generally includes storage means such as a CD-ROM, DVD, hard disk, a positioning system using a positioning artificial satellite called GPS (Global Positioning System), and display means for displaying map information. Yes. Then, the current position is detected by GPS, and map information in the vicinity of the detected current position is read from the storage means and displayed on the display means. Or, instead of GPS, an autonomous navigation system that includes an orientation sensor, a travel distance sensor, etc., and a positioning system that tracks changes in the current position based on departure point information, travel direction, travel speed, travel distance, etc. There is also a navigation device.

  However, these navigation devices can generally display only map information and information associated therewith. In addition, as information accompanying map information, for example, names and symbols such as roads, intersections, buildings, rivers, lakes, mountains, parks, parking lots, or sightseeing spots stored in advance in the storage means are guided. There are images.

  For this reason, the image of the driving route required by the user cannot be displayed. For example, the user may not be able to properly recognize the place where the user should turn left or right.

  Therefore, for example, in Patent Document 1, a video camera facing a traveling direction is attached to an automobile, and traveling data, direction indication data, and handle data of the automobile are detected, and image information obtained by photographing the detected data with the video camera is disclosed. A technique for superimposing and displaying the image is described.

  Further, in Patent Document 1, when a direction instruction is given, the video camera is rotated by a predetermined angle, and when the rotation angle of the handle is larger than the predetermined angle, the video camera is photographed and recorded while turning a corner, It is described that the video camera is turned to the original front in conjunction with the rotation of the steering wheel turning at a corner, and shooting / recording is performed after a certain time after the direction instruction is turned off. Thereby, in patent document 1, the scenery of the circumference | surroundings for every corner and the scenery of the front after turning are recorded.

  In addition, for example, in Patent Document 2, there is image data captured by an imaging unit provided in a moving body, data indicating a position and a direction in which the image is captured, data of captured time, and audio data. The voice data is stored in the central device by transmitting it from the terminal device provided in the mobile unit to the central device using a telephone line, and when there is a request from the terminal device. Describes a technique for transmitting information to a terminal device for display.

  Further, in Patent Document 2, when the route from the current location to the destination is set by the terminal device, the coordinates of the main intersection existing on the route to the destination and the coordinates at which the terminal device travels at the intersection. And calculating the direction and receiving image data corresponding to the calculation result from the central apparatus via a telephone line. And the terminal user displays the images of each intersection received from the central device by the terminal device in order on the display unit, starts running on the actually set route, and approaches the corresponding intersection, An image of the intersection can be displayed.

  By the way, for example, when explaining the route to the home to another person, there are cases where it is not possible to sufficiently recognize information such as an intersection to be turned left or right only by showing a map. In such a case, it is convenient if the map information can be presented in association with an image of an intersection to be turned left or right. In addition, it is more convenient if such data (map data) in which image data is associated with map information can be easily created.

  However, in the technique of the above-mentioned Patent Document 1, it is possible to capture and record an image near the corner, and display the captured and recorded image together with the travel distance from the starting point and the travel distance from the previous corner. Since the photographed / recorded image is not associated with the position information (latitude / longitude information), map data reflecting the photographed image cannot be created.

Further, in the technique of the above-mentioned Patent Document 2, images captured by the terminal device are stored in the central device in association with the position information. This technique, for example, requires the terminal user to request information such as a restaurant near the current position. In this case, it is a technique for displaying an image of a restaurant corresponding to that, and does not create map data using the photographed image. For this reason, for example, map data of a traveled route cannot be created using image data taken during travel.
Japanese Patent Laid-Open No. 3-169180 (Publication Date: July 22, 1991) JP 10-232135 A (publication date: September 2, 1998)

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a map data creation device capable of creating map data in which a surrounding image photographed during movement is associated with map information, and the map data creation device. It is an object of the present invention to provide a moving body and a map data creation method.

  In order to solve the above-described problem, the map data creation device of the present invention includes an imaging unit that captures the surroundings, a position detection unit that detects its own position, and a map information providing unit that provides map information. Control means for creating map data by associating the image data photographed by the photographing means, the positional information at the time of photographing detected by the position detecting means, and the map information is provided.

  Here, map data means data obtained by associating image data captured during movement with map information. Note that “moving” means that it is during a period related to movement. For example, even if the image was taken while performing a moving operation, the moving operation was temporarily stopped during the moving period. It may be a thing. For example, when the map data creation device of the present invention is mounted on an automobile, it may be taken while traveling or taken while being paused at an intersection or the like. Further, the map information providing means provides map information stored in advance, and may be a storage means attached to or connected to the map data creating apparatus, or the map information is transmitted to the map apparatus by communication. May be provided.

  According to said structure, the image data image | photographed with the imaging | photography means can be linked | related with the positional information and map information at the time of imaging | photography. Thereby, the map data which linked | related the surrounding image image | photographed during the movement and map information can be created.

  In order to solve the above-described problems, a mobile object of the present invention is characterized by including the above-described map data creation device.

  According to said structure, the mobile body which can produce the map data which linked | related the surrounding image image | photographed during movement with map information is realizable.

  According to the map data creation method of the present invention, a step of photographing a surrounding image, a step of detecting a position at the time of photographing, a step of associating photographed image data with the detected positional information, and associating with the positional information A process of associating image data with map information and creating map data.

  According to said method, the image | photographed image data can be linked | related with the positional information at the time of imaging | photography, and also linked | related with map information. Thereby, the map data which linked | related the surrounding image image | photographed during the movement and map information can be created.

  The map data creation method of the present invention includes a step of continuously capturing surrounding images, a step of detecting a position at the time of capturing, and a step of storing the captured image data in association with the detected position information. The method may include a step of extracting a part of the image data stored in association with the position information, and a step of creating the map data by associating the extracted image data with the map information.

  According to the above method, since the shooting is continuously performed, the map data in which the surrounding image shot during the movement and the map information are associated can be created without performing the shooting operation while the user is moving. Can reduce the burden on the user to create the file.

  Other objects, features, and advantages of the present invention will be fully understood from the following description. The benefits of the present invention will become apparent from the following description with reference to the accompanying drawings.

  An embodiment of the present invention will be described.

  FIG. 1 is a block diagram showing a configuration of a navigation device (map data creation device) 1 according to the present embodiment. The navigation device 1 is mounted on a vehicle and presents map information and information accompanying the map information to the driver. Further, the navigation device 1 can create map data of a travel route in which an image taken during travel is associated with map information. The map information refers to a map stored in advance on a recording medium attached to or connected to the navigation device 1 or a map provided to the navigation device 1 through communication, and information associated with those maps (for example, This means the names and symbols of rivers, lakes, mountains, roads, intersections, buildings, bridges, routes, stores, parks, parking lots, or pre-stored tourist spots. The map data means data obtained by associating image data captured during movement with map information.

  As shown in FIG. 1, the navigation apparatus 1 includes a camera 11, an operation input unit 12, a display unit 13, a communication unit 14, a communication antenna 15, a GPS reception unit 16, a GPS antenna 17, a direction sensor 18, and a steering angle sensor. 19, a memory 20, a map data storage unit 21, a map information DB (database) 22, a clock 23, a control unit 24, a voice input unit 25, and a voice output unit 26.

  The camera 11 captures an image around the vehicle. In the present embodiment, as the camera 11, a camera having a wide-angle lens capable of simultaneously photographing a predetermined angle range around the azimuth of the own vehicle is used.

  Although the mounting position and the number of the cameras 11 are not particularly limited, for example, they may be arranged as shown in FIG. In FIG. 2, the broken line indicates the limit of the angle that can be taken by the camera.

  FIG. 2 shows an example in which the camera 11 is mounted on the roof, and is mounted on the front, rear, left and right sides in order to prevent blind spots from occurring. In the navigation apparatus 1, map data is created using an image taken by the camera 11 facing the direction in which the host vehicle is facing among the four cameras 11. Note that, for example, images taken by the four cameras 11 shown in FIG. 2 can be used by the driver for safety confirmation around the vehicle while traveling or at the time of starting and stopping. Further, when the camera 11 is arranged as shown in FIG. 2, there is an advantage that the angle of the camera does not change because it is difficult to come into contact with other objects during operation by being attached to the roof.

  The display unit 13 is a display unit that displays map information read from the map information storage unit 22, navigation information based on position information detected by the GPS, images taken by the camera 11, map data created, and the like. . The display unit 13 according to the present embodiment has an extremely wide aspect ratio (display area aspect ratio) of 3: 7 or more (the length in the horizontal direction is at least 7/3 times the length in the vertical direction). This is a liquid crystal panel with a screen, and it is also possible to display instrument information such as speedometer, engine speed meter, fuel fuel gauge, navigation information, captured images, map data, etc. at the same time. ing. The display unit 13 may be installed as an instrument panel, or may be provided separately from the instrument panel.

  The operation input unit 12 receives an instruction from the user and transmits it to the control unit 24. The operation input unit 12 includes a plurality of input keys, and the user can give various instructions to the control unit 24 via these input keys.

  The communication unit 14 is for transmitting and receiving data to and from other communication devices via the communication antenna 15. That is, in accordance with an instruction from the control unit 24, data to be transmitted is converted into data suitable for transmission and transmitted from the communication antenna 15 to the outside. In addition, data received from the outside via the communication antenna 15 is converted into data suitable for processing in the control unit 24. Thereby, in the navigation apparatus 1, image data, map data, etc. can be transmitted / received between other apparatuses, for example.

  The GPS receiving unit 16 analyzes the current position (latitude, longitude, altitude) based on the GPS positioning signal received from the positioning artificial satellite received by the GPS antenna 17, and sends information related to the current position to the control unit 24. To communicate.

  The direction sensor 18 detects the direction (direction of travel) that the host vehicle is facing, and transmits the information to the control unit 24.

  The steering angle sensor 19 detects the steering angle of the steering wheel (steering means) and transmits the detected steering angle to the control unit 24.

  The memory 20 temporarily stores information such as image data taken by the camera 11, time taken, position taken, direction taken, and the like.

  The map data storage unit 21 includes, for example, a hard disk, and stores map data created by the control unit 24 in association with map information and captured image data.

  The map information storage unit 22 is composed of, for example, a hard disk, and map information is stored in advance. Further, the stored map information is provided to the control unit 24 in accordance with an instruction from the control unit 24.

  The clock 23 measures time and transmits (supplies) time data to the control unit 24.

  The control unit 24 includes a CPU (Central Processing Unit) that controls all data processing, control, determination, and the like in the navigation device 1. Note that the control unit 24 activates the navigation device 1, captures images with the camera 11, detects the current position using the GPS reception unit, captures images and time information, position information, azimuth information, travel route information, voice information, and the like. Link with information, create map data, etc.

  The voice input unit 25 collects voices from the outside, converts them into electrical signals (voice data), and transmits them to the control unit 24.

  The sound output unit 26 converts the sound signal into sound in accordance with an instruction from the control unit 24 and outputs the sound.

  Here, a method of creating map data in the navigation device 1 will be described. FIG. 3 is a flowchart showing the flow of map data creation processing.

  When the power of the navigation device 1 is turned on, the control unit 24 detects the current position of the host vehicle, the heading direction of the host vehicle, and the current time (S1). That is, the control unit 24 causes the GPS receiving unit 16 to analyze the current position (latitude, longitude, altitude) based on the GPS positioning signal received from the positioning artificial satellite 17 received by the GPS antenna 17, and the direction sensor 18. The current direction information is received from the clock 23. Note that the current position, direction, and time are always detected while the navigation apparatus 1 is powered on. Moreover, in the navigation apparatus 1, the user gives an instruction to turn on the power via the operation input unit.

  Next, the control unit 24 displays the map, the current position, and the direction on the display unit 13 (S2). That is, the control unit 24 displays a map based on the map information read from the map information storage unit 22 on the display unit 13, and at the position corresponding to the current position of the vehicle detected by GPS on the map, A mark indicating the direction of the vehicle detected by the sensor 18 is displayed.

  Next, the control unit 24 determines whether or not the map data creation mode has been selected (S3). The map data creation mode is selected by the user via the operation input unit 12.

  If the map data creation mode is not selected (S3 is No), the process of S12 described later is performed.

  On the other hand, when the map data creation mode is selected (S3 is Yes), the control unit 24 causes the display unit 13 to display a message prompting the user to set the destination (S4).

  Further, the control unit 24 determines whether or not the destination setting has been made (S5). And the control part 24 performs the process of S4 continuously, when the destination setting is not made (when S5 is No).

  On the other hand, when the destination is set (when S5 is Yes), the control unit 24 causes the camera 11 to start photographing and recording (S6). Here, for example, when shooting with the camera 11 has already been started, for example, for safety confirmation around the vehicle when starting and running, the shooting with the camera 11 may be continued. In the navigation device 1, while the map data creation mode is selected, shooting is always performed by the camera 11, and the shot image is stored (recorded) in the memory 20.

  In addition, the control unit 24 starts storing the travel route information in the memory 20 (S7). That is, the control unit 24 creates travel route information by associating position information detected using the GPS and time information obtained from the clock 23, and stores the travel route information in the memory 20.

  Next, the control unit 24 monitors whether the steering angle of the steering wheel is equal to or larger than a predetermined angle via the steering angle sensor 19 (S8).

  When the steering angle of the steering wheel becomes equal to or greater than a predetermined angle (when S8 is Yes), the control unit 24 displays the image taken at that point, the position (latitude, longitude, altitude), time, and direction at that point. The information is stored in the memory 20 in association (S9).

  Next, the control unit 24 determines whether or not the destination has been reached (S10). In S8, also when the steering wheel steering angle is not equal to or larger than the predetermined angle (when S8 is No), the control unit 24 performs the process of S10.

  And when not having arrived at the destination (when S10 is No), the process after S8 is continued.

  On the other hand, when the vehicle arrives at the destination (when S10 is Yes), the control unit 24 stores the map information read from the map information storage unit 22 in association with the position, time, and direction at the time of shooting. Map data is created from the stored image data, the travel route information stored in the memory 20 and the destination information, and stored in the map data storage unit 21 (S11).

  Then, the control unit 24 determines whether or not there is a power-off instruction from the user (S12). Here, when there is no power OFF instruction (when S12 is No), the control unit 24 continues the processing from S1. On the other hand, when there is a power-off instruction (when S12 is Yes), the control unit 24 ends the process.

  FIG. 4 shows a state in which an example of the map data created in S11 is displayed on the display unit 13. As shown in this figure, the control unit 24 displays a travel route (thick line) on a map based on the map information read from the map information storage unit 22, and corresponds to a position where the steering wheel is steered at a predetermined angle or more. The position on the map is displayed with a symbol (here 1, 2, 3, 4), and an image corresponding to the position where the steering wheel is steered by a predetermined angle or more (here, 1, 2, 3, 4) is displayed. The display unit 13 displays the image on a different area from the map.

  As described above, in the navigation device 1, when the steering angle detected by the steering angle sensor 19 is greater than or equal to a predetermined angle, the control unit 24 captures the image and time information, position information, and direction information taken at that point. Is stored in the memory 20 and the information stored in the memory 20 is further associated with the map information. create.

  Thereby, the map data which linked | related map information, the drive | worked path | route, and the surrounding image image | photographed during driving | running | working can be created.

  In the navigation device 1, when the map data creation mode is selected, the camera 11 always performs shooting. For this reason, it is not necessary for the user to perform a shooting operation while traveling.

  In addition, since the image at a point where the steering angle of the steering wheel is greater than or equal to a predetermined angle is stored in association with the information on the position, time, and direction at which the image was taken, Map data that associates the image with map information can be created.

  Moreover, the navigation apparatus 1 is provided with the communication part 14 which transmits / receives data between other communication apparatuses as mentioned above. Thereby, for example, the map data created in the navigation device 1 can be transmitted to another communication device.

  For this reason, for example, map data created for road guidance near your home (for example, road guidance from the exit of an expressway to your home) is sent to a friend (for example, attached to an e-mail). Send). That is, map data relating to a route (travel route) traveled by the host vehicle can be transmitted to a friend or the like. It is also possible to transmit the created map data to a communication device having a printing function or a communication device that can be connected to the printing device, and to print out (print) on paper. Further, for example, map data created by another person can be received.

  The navigation device 1 receives image data associated with position information (latitude, longitude), and creates map data by associating the received information with the map information stored in the map information storage unit 22. You can also.

  The navigation device 1 includes the communication unit 14 and the communication antenna 15 and transmits and receives image data and map data to and from other communication devices. The delivery method is not limited to this. For example, data may be exchanged by connecting to another device via a communication cable. In addition, a recording unit that records data on a recording medium and / or a reproducing unit that reads data recorded on the recording medium may be provided, and data may be transferred via the recording medium. Here, the recording unit and / or the reproducing unit may be built in the navigation device 1 or the recording unit and / or the reproducing unit separate from the navigation device 1 may be connected via an interface (not shown). It may be connected to the navigation device 1. Examples of such recording media include magnetic tapes such as video tapes and cassette tapes, magnetic disks such as floppy (registered trademark) disks and hard disks, CD-ROMs, MO, MD, DVDs, CD-Rs, and the like. An optical disk (magneto-optical disk), a memory card such as an IC card or an optical card, a semiconductor memory such as a mask ROM, EPROM, EEPROM, or flash ROM can be used.

  In the above description, the control unit 24 creates the map data when it arrives at the destination. However, the present invention is not limited to this. For example, it may be created when there is a map data creation instruction from the user. In this case, map data can be created at an arbitrary timing desired by the user. Further, the timing for creating the map data may be after the traveling or during the traveling. For example, map data may be created every time a certain period of time elapses or every time a certain distance is traveled. Alternatively, map data may be created whenever necessary during shooting. Alternatively, the map data may be created when the remaining storage capacity of the memory 20 is equal to or less than a predetermined amount. In this case, after the map data is created, unnecessary data is appropriately deleted from the memory 20. You may do it.

  The navigation device 1 creates travel route information by associating position information detected using the GPS and time information obtained from the clock 23, and uses the created travel route information for creating map data. This is not a limitation.

  For example, the user sets a route to the destination in addition to the destination setting, the set route setting information (movement route information), an image taken during traveling along the set route, map information, The map data may be created in association with each other. When the navigation device has a route guidance function for presenting information corresponding to the set route to the user, image data of a point where the steering wheel is steered at a predetermined angle or more is added to the route guidance data. You may do it.

  Even when the map data creation mode is selected, it is not always necessary to set the destination and route. When destination and route settings are not set, for example, travel route information that associates position information detected using GPS with time information obtained from the clock 23, and a point at which the steering angle of the steering wheel is equal to or greater than a predetermined angle The image data associated with the position, time and direction may be stored as needed.

  Further, in the navigation device 1, when the map data creation mode is selected, the camera 11 always shoots / records, but the present invention is not limited to this. For example, the shoot is always taken and the steering angle of the steering wheel reaches a predetermined angle. Only the image of the point may be recorded. Alternatively, instead of always performing shooting, shooting and recording may be performed when the steering angle of the steering wheel reaches a predetermined angle.

  In addition, when the camera 11 always performs shooting / recording while the map data creation mode is selected, for example, shooting is performed at a point where the steering wheel steering angle is equal to or greater than a predetermined angle in the image data stored in the memory 20. The processed image data may be sequentially deleted from the oldest shooting time. That is, only new shooting data may be stored, and old shooting data may be sequentially deleted. At this time, for example, when the remaining capacity of the storage capacity of the memory 20 becomes a predetermined amount or less, old image data may be deleted. Thereby, the storage capacity required for the memory 20 can be reduced.

  Further, in the navigation apparatus 1, an image taken at a point where the steering wheel is steered at a predetermined angle or more is used for creating map data. The image is not limited to an image taken at the moment when the angle reaches a predetermined angle. For example, an image taken immediately before the steering angle of the steering wheel reaches a predetermined angle (for example, several seconds before), an image taken while operating the steering wheel, or after the steering angle of the steering wheel reaches the predetermined angle It may be an image taken when returning to the original state (the handle position when going straight).

  5 to 8 are examples of images taken immediately before the steering angle of the steering wheel reaches a predetermined angle (for example, several seconds before). As shown in these figures, when an image immediately before the steering angle of the steering wheel reaches a predetermined angle is used for creating map data, it becomes easier to recognize an intersection to be turned left and right when traveling along the travel route.

  FIG. 9 is an example of an image taken during steering operation (right / left turn), and FIG. 10 shows a case where the steering angle of the steering wheel reaches a predetermined angle and then returns to the steering wheel position when going straight (after right / left turn). It is an example of the image image | photographed in (a). Thus, for example, map data can be created using an image taken during a right turn or after a right turn.

  In addition to the still image, map data may be created using a moving image. For example, a moving image captured from immediately before the handle operation to immediately after the handle is returned to the original state (straight direction) may be associated with the map information and stored in the map data storage unit 21. Moreover, when displaying the map data stored in association with the moving image and the map information in this manner, for example, a still image obtained by cutting out a part of the stored moving image is displayed on the display unit 13 together with the map information. A moving image corresponding to the still image may be reproduced in accordance with an instruction from the user.

  Further, the image used for creating the map data may be an image taken while traveling or may be taken while being paused at an intersection or the like.

  Further, in the present embodiment, information that associates a captured image with time information, position information, and direction information, and travel route information are stored, and map data is created by associating the information with map information. However, it is not limited to this. It is only necessary that the captured image can be associated with the map information. For example, time information and direction information may be omitted.

  In addition to the map data described above, map data further associated with audio information may be created. For example, the voice input unit 25 may collect voices uttered by the user at the time of shooting while traveling and store them in association with the shot images, time information, position information, direction information, and the like. Alternatively, when the user creates map data at an arbitrary timing, voice information may be input so that map data including the voice information can be created.

  Thereby, for example, map data including voice information such as the name of an intersection, the name of a building or the like serving as an object near the intersection, and a feature point can be created. Further, for example, when the map data is displayed on the display unit 13, audio information corresponding to the position on the map selected by the user may be output from the audio output unit 26.

  In this embodiment, the camera 11 always captures and records an image of the surroundings of the running vehicle, and when the steering angle of the steering wheel is equal to or larger than a predetermined angle, information such as time, position, and direction is captured. The timing of associating the captured image with information such as the time, position, and orientation is not limited to this.

  For example, when the azimuth direction of the vehicle detected by the azimuth sensor 18 changes by a predetermined angle or more, information such as time, position, and azimuth may be stored in association with the photographed image. Alternatively, when both the steering angle of the steering wheel and the direction in which the vehicle is facing are equal to or greater than a predetermined angle, information such as time, position, and direction may be stored in association with the captured image. .

  In addition to the case where the steering angle of the steering wheel and / or the direction in which the vehicle is facing is greater than or equal to a predetermined angle, every time a predetermined time elapses, a predetermined distance travels, or an instruction from the user In such a case, information such as time, position, and direction may be stored in association with the photographed image. Further, for example, when a direction instruction operation (blinker operation) is performed by the user, information such as time, position, and direction may be stored in association with the captured image.

  Further, for example, all the moving images that are constantly recorded during traveling may be stored in association with information such as time, position, and direction. In this case, for example, after the travel to the destination is completed, the user can create map data by selecting and cutting out an arbitrary still image from the recorded moving images. In addition, when a moving image taken during traveling is always recorded, the surrounding scenery that was overlooked during traveling can be reviewed later. It is also possible to create a movie clip for the travel route.

  In the present embodiment, the map information storage unit 22 is composed of a hard disk, but is not limited thereto. For example, magnetic tape such as video tape and cassette tape, magnetic disk such as floppy (registered trademark) disk and hard disk, optical disk (magneto-optical disk) such as CD-ROM, MO, MD, DVD and CD-R, IC card, It is good also as a structure which reads the map information previously memorize | stored in semiconductor memories, such as memory cards, such as an optical card, mask ROM, EPROM, EEPROM, flash ROM. Or it is good also as a structure using the map information provided to the navigation apparatus 1 via networks (intranet, the internet, etc.).

  Further, the map data storage unit 21 is not limited to a hard disk, but may be, for example, a magnetic tape such as a video tape or a cassette tape, a magnetic disk such as a floppy (registered trademark) disk or a hard disk, a CD-ROM, MO, MD, DVD, An optical disk (a magneto-optical disk) such as a CD-R, a memory card such as an IC card or an optical card, a semiconductor memory such as a mask ROM, EPROM, EEPROM, or flash ROM may be used. Alternatively, a recording medium connected to the navigation device 1 via a network (such as an intranet or the Internet) may be used.

  Moreover, in this embodiment, although the map data storage part 21 and the map information storage part 22 are provided, you may comprise both by a common memory | storage part. Further, for example, map data associated with photographed image data may be added to map information stored in advance, and the map information may be sequentially updated.

  Further, as described above, the navigation device 1 includes the display unit 13 including the liquid crystal panel having an ultra-wide screen with an aspect ratio of 3: 7 or more, but is not limited thereto. For example, display means having an aspect ratio of 3: 4, which is conventionally employed in many navigation devices mounted on vehicles and display devices for television broadcasting, may be used.

  In the display unit 13 having an aspect ratio of 3: 7 or more used in the present embodiment, even if a display area of 3: 4, which is an aspect ratio of a conventional display device, is subtracted, it is wider than a 3: 3 square shape. A display area can be left. For this reason, when using the display part 13 as an instrument panel, instruments, such as a speedometer, can also be displayed on a display area wider than this square shape. For example, a circular speedometer is preferred because it is most easily visible, but if the remaining display area is wider than a square shape, the speedometer is displayed using a sufficiently short side with a short aspect ratio. Can be made. Therefore, the visibility of the speedometer is good and the safety can be kept high.

  Further, some recent navigation devices display using a display device with an aspect ratio of 9:15, and such display means may be used as the display unit 13. In addition, when it is desired to display the image displayed on the conventional display means having an aspect ratio of 9:15 and the display of instruments on the display unit 13, the aspect ratio of the display unit 13 is set to 9:24 or more. Also good. Similarly, some television broadcasts are 9:16, but when such television broadcasts and instrument displays are to be displayed on the display unit 13, the aspect ratio of the display unit 13 is 9:16. It may be 25 or more. The upper limit of the aspect ratio is not particularly limited as long as the display size on the short side is not less than a predetermined value and the resolution is not less than the predetermined value.

  Further, the display unit 13 according to the present embodiment simultaneously displays instrument displays such as a speedometer, an engine speed meter, and a fuel fuel gauge, and a captured image, display of created map data, map information, and the like. However, this is not a limitation. For example, a display unit for displaying instruments and a display unit for displaying captured images, created map data, map information, and the like may be provided separately. That is, the display unit 13 according to the present embodiment only needs to be able to display captured images, created map data, map information, and the like. Further, when displaying the map data, the display unit 13 may display the map information and the captured image in different areas, or display the captured image superimposed on a part of the map information. May be.

  In the present embodiment, a liquid crystal panel is used as the display unit 13, but the present invention is not limited to this. Any image or map information taken by the camera 11 may be displayed. For example, an organic EL (Electro Luminesence) panel, a plasma display panel, a CRT (Cathode Ray Tube), or the like may be used. .

  In addition, when the display unit 13 displays an instrument display such as a speedometer and a captured image, display of created map data, map information, or the like on the display unit 13, an emergency display device (fail-safe system) ) May be further provided. For example, the case where the display unit 13 breaks down, the case where the display unit 13 is a liquid crystal panel, or the case where the reaction speed does not reach a practically preferable speed due to low temperature may be considered. Even in such a case, in order for the driver to continue safe driving, a speedometer or the like needs to be displayed appropriately. Therefore, for example, an emergency display device (not shown) including a transparent EL panel may be provided. As a result, even when the display unit 13 breaks down or a display failure occurs, the driver can drive safely by displaying a speedometer or the like on the emergency display device.

  Further, when displaying the instrument such as the speedometer and the display of the captured image, the created map data, the map information, etc. on the display unit 13, for example, a display other than the luminance of the display area of the instrument If the brightness of the region becomes too high, the visibility of the instruments may be reduced. In order to avoid such a situation, the brightness in the other display area may not be higher than the brightness in the display area of the instruments. For example, when the brightness of the other display area is higher than the brightness of the display area of the instrument, the brightness of the other display area may be lower than the brightness of the display area of the instrument. Or you may make it restrict | limit the brightness | luminance in another display area to below a threshold value so that the brightness | luminance of another display area may not become higher than a predetermined threshold value.

  In the navigation device 1, map data is created using an image taken by the camera 11 facing the direction of the host vehicle among the four cameras 11. Thereby, the direction at the time of imaging | photography in the image | photographed image can be grasped | ascertained easily. However, the present invention is not limited to this, map data may be created using an image taken in a direction different from the direction in which the vehicle is facing, or the shooting direction of the camera 11 may be variable. However, it is preferable that the photographed orientation can be specified based on the orientation detection result of the orientation sensor 18, for example.

  In the navigation device 1, a camera having a wide-angle lens capable of simultaneously photographing a predetermined angle range is used. However, the present invention is not limited to this. For example, you may use the omnidirectional camera which can image | photograph the image of omnidirectional (360 degree | times centering on a direction substantially perpendicular | vertical to the ground surface). In that case, the camera may be an omnidirectional camera capable of instantaneously capturing omnidirectional images, or may be omnidirectional by changing the shooting direction continuously.

  FIG. 11 is a plan view for explaining a configuration example of the camera 11 capable of instantaneously capturing omnidirectional images. As shown in this figure, the camera 11 includes a camera unit 31, a convex mirror 32, a casing 33, and a cover member 34 that forms part of the casing 33.

  The casing 33 has a substantially cylindrical shape. And the part of predetermined length among the side walls of the casing 33 is comprised by the transparent cover member 34 over the perimeter. A convex mirror 32 as a reflecting mirror is disposed in the casing 33 in correspondence with the height position of the cover member 34. The surface of the convex mirror 32 is a surface of a convex rotator obtained by rotating a predetermined convex line around a predetermined axis (the vertical axis of the casing 33) serving as an optical axis. Examples of the convex line include an arc line, a hyperbola, and a parabola. The convex mirror 32 is disposed so as to be convex downward as a whole, and is set so that light from the outside incident through the cover member 34 is reflected downward.

  In the casing 33, a camera unit 31 as an imaging device such as a CCD or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor is disposed below the convex mirror 32. The camera unit 31 receives external light reflected by the convex mirror 32 and outputs an electrical signal corresponding to the incident light. As described above, in the configuration of FIG. 11, the convex mirror 32 is convex on the entire periphery of the reflecting mirror, and therefore, when viewed from the horizontal direction, it is possible to image all directions, that is, 360 degrees.

  The camera 11 only needs to be able to photograph at least one direction, and is not limited to a camera provided with a wide-angle lens or an omnidirectional camera, and may be a camera including a standard lens. Further, the shooting direction of the camera is not necessarily fixed, and may be variable. In addition, a required shooting direction may be selected according to a user instruction. In this case, it is preferable to provide an input unit that receives an instruction from the user.

  Further, an infrared camera may be used as the camera 11. Or you may provide the illumination means for illuminating the imaging | photography range by the camera 11. FIG. With these configurations, an image suitable for use in creating map data can be taken even at night.

  Further, the mounting position and the mounting quantity of the camera camera 11 are not limited to the arrangement shown in FIG. For example, the arrangements shown in FIGS. 12A to 12C may be adopted.

  In the arrangement example of FIG. 12A, in order to photograph at least four directions of front, rear, left and right, a camera 11 for photographing the front at the end on the front passenger seat side and a camera for photographing the side of the passenger seat side. 11, a camera 11 for photographing the side of the driver's seat at the end on the front driver's seat side, and a camera for photographing the rear at the end on the driver's seat side. I have.

  In the arrangement example of FIG. 12B, the number of cameras 11 is added compared to FIG. 12A in order to capture images in all directions in more detail. That is, in addition to the camera 11 arranged as shown in FIG. 12A, a camera 11 for photographing the front side of the front passenger seat is provided at the end portion on the front passenger seat side, and the front side at the end portion on the front driver seat side is provided. A camera 11 for taking the image is arranged. In this way, by dividing the front image into three or more cameras 11 and sharing them, it becomes possible to shoot without blind spots.

  In FIG. 12C, a camera 11 for photographing the front of the vehicle and a camera 11 for photographing the side of the passenger seat are provided at the end of the front passenger seat side of the vehicle, and at the end of the front driver seat side. A camera 11 for photographing the side of the driver's seat is provided, and further, a camera 11 for photographing the rear is provided at the end on the rear driver's seat side. In this case, it is possible to reliably prevent a blind spot from being generated by the vehicle body of the host vehicle.

  Moreover, the camera 11 may be stored in the vehicle, for example, and may be exposed to the outside of the vehicle and capable of shooting only during shooting.

  In the present embodiment, the current position (latitude and longitude) of the host vehicle is detected using GPS. However, the position detection means is not limited to such a configuration. For example, an azimuth sensor or a travel distance sensor The current position of the vehicle may be detected by so-called autonomous navigation that tracks changes in the current position based on information on the departure point, traveling direction of the automobile, traveling speed, traveling distance, etc. .

  Further, although the operation input unit 12 in the present embodiment is composed of a plurality of input keys, the present invention is not limited to this. For example, the display unit 13 may be used as the operation input unit 12. In other words, the display unit 13 may display items that can be input by the driver, and the driver may give an instruction to the control unit 24 by touching a display area in which desired items are displayed. Alternatively, a mouse or a stick-like operation device may be provided as the operation input unit 12. Also, an operation input unit such as an audio system may be used. Further, when a system capable of electrically adjusting the angle of the door mirror (fender mirror) is provided, these operation means may be used together.

  Further, in the present embodiment, the battery for starting the engine is used as the power source of the navigation device 1. However, the present invention is not limited to this, and a power supply unit for the navigation device 1 may be separately provided. For example, it may be driven by a battery or a rechargeable battery.

  In the present embodiment, the user gives an instruction to turn on the power of the navigation device 1 via the operation input unit 12, but the present invention is not limited to this. For example, the vehicle on which the navigation device 1 is mounted may be provided with means for detecting that the ignition key is turned on, and the navigation device 1 may be turned on when the ignition key is turned on. Further, for example, when the door of the driver's seat is opened or closed, or when the door is unlocked, the navigation apparatus 1 may be turned on.

  Moreover, although the navigation apparatus 1 shall be mounted in a vehicle, the vehicle in this embodiment includes not only an automobile but also a motorcycle, a bicycle, and the like. The navigation device 1 is not limited to a vehicle, and can be mounted on any moving body (moving means) such as a helicopter, an aircraft, and a ship. Moreover, the navigation apparatus 1 does not necessarily need to be provided in a mobile body, for example, may be provided in these mobile bodies so that attachment or detachment is possible.

  Further, for example, the navigation device 1 may be configured to be portable by the user. In this case, the navigation device 1 may be configured to be carried alone, or may be provided in a mobile terminal device such as a mobile phone, a PHS (Personal Handyphone System, registered trademark), a PDA (Personal Digital Assistant), or a laptop computer. May be. Thereby, for example, map data relating to a route traveled by the user while carrying the navigation device 1 can be created. Of course, you may use the navigation apparatus 1 which consists of a portable structure mounted in each above-mentioned moving body.

  As described above, the map data creating apparatus of the present invention includes the photographing means for photographing the surroundings, the position detecting means for detecting the position of itself, and the map information providing means for providing map information. Control means for creating map data by associating photographed image data, position information at the time of photographing detected by the position detection means, and the map information is provided.

  Here, map data means data obtained by associating image data captured during movement with map information. Note that “moving” means that it is during a period related to movement. For example, even if the image was taken while performing a moving operation, the moving operation was temporarily stopped during the moving period. It may be a thing. For example, when the map data creation device of the present invention is mounted on an automobile, it may be taken while traveling or taken while being paused at an intersection or the like. Further, the map information providing means provides map information stored in advance, and may be a storage means attached to or connected to the map data creating apparatus, or the map information is transmitted to the map apparatus by communication. May be provided.

  According to said structure, the image data image | photographed with the imaging | photography means can be linked | related with the positional information and map information at the time of imaging | photography. Thereby, the map data which linked | related the surrounding image image | photographed during the movement and map information can be created.

  In addition, the image data storage means for storing information including image data is provided, and the control means causes the photographing means to continuously perform photographing, and the photographed image data is detected by the position detecting means at the time of photographing. The image data storage unit stores the image data in association with the position information, extracts a part of the image data stored in the image data storage unit, and creates the map data by associating the extracted image data with the map information. It is good also as a structure.

  According to the above configuration, since the control unit causes the imaging unit to continuously perform imaging, the user does not need to perform an imaging operation while moving, and the burden on the user for creating map data can be reduced. .

  In addition, a moving body including a steering unit that switches a traveling direction and a steering angle detection unit that detects a steering angle of the steering unit is provided, and the control unit stores the image data stored in the image data storage unit. Among them, a part of an image photographed in the vicinity of a point where the steering angle detected by the steering angle detection means is equal to or larger than a predetermined angle is extracted, and map data is created by associating the extracted image data with the map information. It may be configured to

  Here, the moving body includes all moving means such as an automobile, a motorcycle, a bicycle, a helicopter, an aircraft, and a ship.

  According to said structure, the image image | photographed in the vicinity of the point where the steering more than the predetermined angle was made is reflected in map data. Thereby, the map data reflecting the image in the vicinity of the point where the mobile body makes a right or left turn or the like can be created. For this reason, for example, when the created map data is used for route guidance, it becomes easy to grasp the surrounding conditions such as an intersection to be turned right or left.

  The moving unit includes a traveling direction detection unit that detects the direction of the traveling direction, and the control unit detects the direction detected by the traveling direction detection unit among the image data stored in the image data storage unit. A configuration may be used in which a part of an image taken in the vicinity of a point changed by a predetermined angle or more is extracted, and map data is created by associating the extracted image data with the map information.

  According to said structure, the image image | photographed in the vicinity of the point where the azimuth | direction of the advancing direction changed more than the predetermined angle is reflected in map data. Thereby, the map data reflecting the image in the vicinity of the point where the mobile body makes a right or left turn or the like can be created. For this reason, for example, when the created map data is used for route guidance, it becomes easy to grasp the surrounding conditions such as an intersection to be turned right or left.

  Further, the control unit includes a steering unit that switches a traveling direction, a steering angle detection unit that detects a steering angle of the steering unit, and a traveling direction detection unit that detects a direction of the traveling direction. A part of an image taken in the vicinity of a point where the steering angle detected by the steering angle detection unit is equal to or larger than a predetermined angle and the direction detected by the traveling direction detection unit changes by a predetermined angle or more is extracted. The extracted image data may be associated with the map information to create map data.

  According to the above configuration, an image taken in the vicinity of a point where the steering is performed at a predetermined angle or more and the direction of travel is changed by the predetermined angle or more is reflected in the map data. Thereby, the map data reflecting the image in the vicinity of the point where the mobile body makes a right or left turn or the like can be created. For this reason, for example, when the created map data is used for route guidance, it becomes easy to grasp the surrounding conditions such as an intersection to be turned right or left.

  In addition, an input unit that receives an instruction from a user may be provided, and the control unit may determine the image data to be extracted in accordance with a user instruction to the input unit.

  According to said structure, the user can select the image of the desired point and can create the map data reflecting it.

  In addition, a movement route storage unit that stores movement route information is provided, and the control unit associates the movement route information stored in the movement route storage unit, the image data captured by the imaging unit, and the map information. The map data may be created.

  According to said structure, the map data regarding a driving | running route can be created, without performing the process concerning map data creation during a user's driving | running | working.

  Further, an input unit that receives an instruction from a user may be provided, and the control unit may be configured to use the route setting information input via the input unit as the travel route information.

  According to said structure, the map data regarding the set route | route can be created, without performing the process concerning map data creation during a user's driving | running | working.

  In addition, there is provided a time measuring means for measuring time, and the control means creates the moving route information based on the position information detected by the position detecting means and the time information supplied from the time measuring means. Also good.

  According to said structure, the map data regarding the actually drive | worked driving | running route can be created, without performing the process concerning map data preparation during a user's driving | running | working.

  The control means associates the image data photographed by the photographing means with time information at the time of photographing supplied from the time measuring means, and associates the image data associated with the time information with the position information and the movement path information. The map data may be created in association with the map information.

  According to the above configuration, the captured image data is associated with the time information at the time of photographing, and the image data associated with the time information is associated with the position information, the travel route information, and the map information to create map data. . For this reason, the captured image data can be appropriately associated with position information, movement route information, and map information.

  In addition, the camera includes a shooting direction detection unit that detects a shooting direction of the shooting unit, and the control unit includes the direction information detected by the shooting direction detection unit, the image data shot by the shooting unit, and the map information. The map data may be created in association with each other.

  According to said structure, the map data reflecting the direction of the imaging | photography direction of the image | photographed image can be created. For this reason, for example, when the created map data is used for route guidance or the like, it is possible to more appropriately grasp the situation of an intersection to be turned left or right.

  In addition, voice input means for collecting voice and converting it into voice data is provided, and the control means includes voice data input via the voice input means, image data shot by the shooting means, and map information. The map data may be created in association with

  According to the above configuration, map data in which audio data, captured image data, and map information are associated can be created. Thereby, for example, map data including voice data such as the name of an intersection to be turned right and left, the name of a target building near the intersection, a feature point, and the like can be created.

  Moreover, it is good also as a structure provided with the display means which displays map data. In this case, the created map data can be presented to the user by the display means.

  Moreover, it is good also as a structure provided with the communication means which communicates map data between other apparatuses. Here, the communication means may communicate data wirelessly or may communicate data via a communication cable or the like. Also, both transmission and reception may be performed, or only one of them may be performed. Also, the map data is exchanged (communication) with other devices via a recording medium that is separable from the map data creation device or a recording medium connected to the map data creation device. It may be.

  According to said structure, communication of map data is attained between other apparatuses. Thereby, for example, when a communication means capable of transmission is provided, map data created for route guidance can be transmitted to a friend or the like. Further, for example, map data can be transmitted to a printing apparatus or an apparatus connectable to the printing apparatus, and printed out (printed) on a sheet or the like. In the case where a receivable communication means is provided, for example, map data created by another device can be received. Further, when the display means is provided, the received map data can be displayed.

  In order to solve the above-described problems, a mobile object of the present invention is characterized by including any one of the map data creation devices described above.

  According to said structure, the mobile body which can produce the map data which linked | related the surrounding image image | photographed during movement with map information is realizable.

  According to the map data creation method of the present invention, a step of photographing a surrounding image, a step of detecting a position at the time of photographing, a step of associating photographed image data with the detected positional information, and associating with the positional information A process of associating image data with map information and creating map data.

  According to said method, the image | photographed image data can be linked | related with the positional information at the time of imaging | photography, and also linked | related with map information. Thereby, the map data which linked | related the surrounding image image | photographed during the movement and map information can be created.

  The map data creation method of the present invention includes a step of continuously capturing surrounding images, a step of detecting a position at the time of capturing, and a step of storing the captured image data in association with the detected position information. The method includes a step of extracting a part of image data stored in association with the position information, and a step of creating map data by associating the extracted image data with map information.

  According to the above method, since the shooting is continuously performed, the map data in which the surrounding image shot during the movement and the map information are associated can be created without performing the shooting operation while the user is moving. Can reduce the burden on the user to create the file.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by combining technical means appropriately changed within the scope of the claims are also included in the technical scope of the present invention.

  The map data creation device of the present invention can be mounted on any moving body (moving means) such as an automobile, a motorcycle, a bicycle, a helicopter, an aircraft, and a ship. Moreover, it can also be equipped with these mobile bodies so that attachment or detachment is possible. In addition, the map data creation device of the present invention can be configured to be portable by itself. Alternatively, it can be provided in a mobile terminal device such as a mobile phone, a PHS (Personal Handyphone System, registered trademark), a PDA (Personal Digital Assistant), and a notebook personal computer.

It is a block diagram which shows the structure of the navigation apparatus concerning one Embodiment of this invention. It is explanatory drawing which shows an example of the mounting position of the camera with which the navigation apparatus concerning one Embodiment of this invention is equipped. It is a flowchart which shows an example of the process in the navigation apparatus concerning one Embodiment of this invention. It is a top view which shows the display part which displayed the map data produced with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows an example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows the other example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows the further another example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows the further another example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows the further another example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is a figure which shows the further another example of the image image | photographed with the navigation apparatus concerning one Embodiment of this invention. It is sectional drawing which shows one structural example of the camera with which the navigation apparatus concerning one Embodiment of this invention is equipped. It is explanatory drawing which shows the modification of the mounting position of the camera with which the navigation apparatus concerning one Embodiment of this invention is equipped. It is explanatory drawing which shows the other modification of the mounting position of the camera with which the navigation apparatus concerning one Embodiment of this invention is equipped. It is explanatory drawing which shows the further another modification of the mounting position of the camera with which the navigation apparatus concerning one Embodiment of this invention is equipped.

Claims (17)

A photographing means for photographing the surroundings, a position detecting means for detecting its own position, and a map information providing means for providing map information;
Map data creation characterized by comprising control means for creating map data by associating image data photographed by the photographing means, position information at the time of photographing sensed by the position sensing means, and the map information apparatus. Image data storage means for storing information including image data;
The control means includes
The photographing unit continuously performs photographing, and the photographed image data is stored in the image data storage unit in association with the positional information at the time of photographing detected by the position detecting unit,
2. The map data creation device according to claim 1, wherein a part of the image data stored in the image data storage means is extracted, and map data is created by associating the extracted image data with the map information. . Provided in a moving body having a steering means for switching a traveling direction and a steering angle detection means for detecting a steering angle of the steering means,
The control means includes
Of the image data stored in the image data storage means, a part of an image taken in the vicinity of a point where the steering angle detected by the steering angle detection means is equal to or greater than a predetermined angle is extracted, and the extracted image 3. The map data creating apparatus according to claim 2, wherein map data is created by associating data with the map information. Provided in a moving body having a traveling direction detection means for detecting the direction of traveling direction,
The control means includes
Of the image data stored in the image data storage means, a part of the image taken in the vicinity of a point where the direction detected by the traveling direction detection means has changed by a predetermined angle or more is extracted, and the extracted image data is 3. The map data creation device according to claim 2, wherein map data is created in association with the map information. Provided in a moving body comprising a steering means for switching the traveling direction, a steering angle detecting means for detecting the steering angle of the steering means, and a traveling direction detecting means for detecting the direction of the traveling direction,
The control means includes
Extracting a part of an image photographed in the vicinity of a point where the steering angle detected by the steering angle detection means is a predetermined angle or more and the direction detected by the traveling direction detection means is changed by a predetermined angle or more; 3. The map data creating apparatus according to claim 2, wherein map data is created by associating the extracted image data with the map information. An input means for receiving an instruction from the user;
The control means includes
3. The map data creation apparatus according to claim 2, wherein the image data to be extracted is determined in accordance with a user instruction to the input means. A travel route storage means for storing travel route information;
The control means includes
2. The map data creation device according to claim 1, wherein map data is created by associating the travel route information stored in the travel route storage means, the image data photographed by the photographing means, and the map information. . An input means for receiving an instruction from the user;
The control means includes
8. The map data creating apparatus according to claim 7, wherein route setting information input through the input unit is used as the travel route information. Equipped with a timekeeping means to keep time
The control means includes
8. The map data creation device according to claim 7, wherein the travel route information is created based on position information detected by the position detection means and time information supplied from the time measurement means. The control means includes
Associating the image data photographed by the photographing means with time information at the time of photographing supplied from the time measuring means,
The map data creating apparatus according to claim 9, wherein map data is created by associating the image data associated with the time information with the position information, the travel route information, and the map information. A shooting direction detecting means for detecting the shooting direction of the shooting means;
The control means includes
2. The map data creating apparatus according to claim 1, wherein map data is created by associating azimuth information detected by the photographing azimuth detecting means, image data photographed by the photographing means, and the map information. Voice input means for collecting voice and converting it into voice data;
The control means creates map data by associating the voice data input through the voice input means, the image data shot by the shooting means, and the map information. The map data creation device described.   2. The map data creating apparatus according to claim 1, further comprising display means for displaying map data.   The map data creating apparatus according to claim 1, further comprising a communication unit that communicates map data with another apparatus. A photographing means for photographing the surroundings, a position detecting means for detecting its own position, and a map information providing means for providing map information;
A map data creation device comprising control means for creating map data by associating image data photographed by the photographing means, position information at the time of photographing sensed by the position sensing means, and the map information; Moving body. A process of taking a surrounding image,
Detecting the position at the time of shooting;
Associating photographed image data with the detected position information;
And a step of associating the image data associated with the position information with map information to create map data. A process of continuously capturing surrounding images;
Detecting the position at the time of shooting;
Storing the captured image data in association with the detected position information;
Extracting a part of image data stored in association with the position information;
And a step of associating the extracted image data with map information to create map data.

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