JP2009181429A - Position and direction estimation system, information processing apparatus, method for estimating position and direction, program, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position and direction estimation system which prevents a user of the public traffic system from becoming involved in nuisance such as nuisance as a perpetrator, and which provides an evidences for establishing a false charge if the user becomes involved in the nuisance as the perpetrator. <P>SOLUTION: The position and direction estimation system is constituted of: a plurality of means to be measured which are attached on the hands of the user; a measurement means which measures a distance between the measurement means; and the means to be measured, and an information processing apparatus. The information processing apparatus includes: an instruction output means which outputs an instruction for starting measurement and an instruction for stopping measurement; and a processing means which obtains a distance between the measuring means and each means to be measured from the measuring means so as to calculate the position and direction of the palms of the user. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a position / direction estimation system, an information processing apparatus, a position / direction estimation method, a program, and a recording medium, and more particularly to a technique preferably applied to a monitoring system for annoying acts such as molesters in public transportation.

  Conventionally, as means for verifying the perpetration of a molester, there is no other way than relying on an image from a surveillance camera or the like and the surrounding testimony, and it has been extremely difficult to verify when these are not present. Even if a surveillance camera is installed, it can be said that it is difficult to record the detailed actions of each passenger in a crowded vehicle. Therefore, a means for objectively proving the state of the passenger in the vehicle is desired. Moreover, although the means for the victim side to prevent a molester damage is considered, the means for preventing the act misunderstood as a molester is also required.

  By the way, a so-called motion capture technique is known as a technique for electronically recognizing and storing a human motion. However, since this technique is limited to measurement in a narrow space where special equipment is installed, it is difficult to apply it to daily use. As a technique for solving this, there is a “behavior management system using a motion measurement device” disclosed in Patent Document 1, for example. The behavior management system realizes that a motion of a subject is recognized and managed or recorded by a motion measurement device attached to a body part of the subject.

As a related technique, for example, in Patent Document 2, the direction and distance of the target object isolated on the receiving side can be easily and immediately known by visual observation, and the search search only on the receiving side is possible. A portable isolation notification device is disclosed. The portable isolation notification device has a built-in reception circuit that receives a signal transmitted from a transmission device mounted on a bracelet or the like, and outputs a warning sound by a sounding element only when the transmission device is separated by a set distance or more. In addition, the direction and distance of the transmitting device are displayed on the display device.
Japanese Patent Laid-Open No. 2005-352881 Japanese Patent Laid-Open No. 10-320669

  However, in the technique according to Patent Document 1, it is assumed that the motion measurement means is obtained from the change in the acceleration of the body part, and it is not possible to measure the detailed motion of the subject such as the direction (orientation) and height of the palm. . In the technique according to Patent Document 2, the distance and the positional relationship between the transmitting device (the bracelet worn on the user's hand) and the receiving circuit (the notification device carried by the user) can be grasped. It is difficult to measure fine movements. That is, since it is necessary to refer to the direction and position of the palm as described above in order to prevent the molester atonement, the technique according to the above-mentioned patent document cannot be used to prevent the molester atonement.

  Therefore, in view of the circumstances described above, the present invention prevents public transport users from being involved as a perpetrator of annoying acts such as molesting, and provides evidence of guilty evidence when involved as a perpetrator. An object is to provide a position / direction estimation system, an information processing apparatus, and the like that can be secured.

  In order to achieve such an object, the position / direction estimation system of the present invention comprises a plurality of measured units mounted on a user's hand, a measuring unit for measuring a distance from the measured unit, and an information processing apparatus. The information processing apparatus is a position / direction estimation system, and the information processing apparatus acquires, from the measurement unit, a command output unit that outputs a measurement start command and a measurement end command to the measurement unit, and a distance between the measurement unit and each measured unit. And processing means for calculating the position and orientation of the palm of the user.

  The information processing apparatus of the present invention is an information processing apparatus that constitutes a position / direction estimation system together with a plurality of measurement units mounted on a user's hand and a measurement unit that measures a distance from the measurement unit. Command output means for outputting measurement start and measurement end instructions to the means, processing means for obtaining the distance between the measurement means and each measured means from the measurement means, and calculating the position and orientation of the user's palm; Have.

  The position / direction estimation method of the present invention is a position in a position / direction estimation system including a plurality of units to be measured mounted on a user's hand, a measuring unit for measuring a distance from the unit to be measured, and an information processing apparatus. In the information processing apparatus, in the information processing apparatus, a command output step for outputting a measurement start command and a measurement end command to the measurement unit, and the distance between the measurement unit and each measured unit are acquired from the measurement unit, Processing steps for calculating the position and orientation of the palm of the user.

  The program of the present invention is a program used for a position direction estimation system including a plurality of measured units mounted on a user's hand, a measuring unit that measures a distance from the measured unit, and an information processing apparatus. A command output function for outputting a measurement start command and a measurement end command to the measuring unit, and a distance between the measuring unit and each measured unit from the measuring unit, and the user's palm position and And a processing function for calculating a direction.

  The recording medium of the present invention is a computer-readable recording medium on which the above program is recorded.

  According to the present invention, it is possible to prevent a user of public transportation from being involved as a perpetrator of a nuisance such as a molester, and to secure evidence of a false conviction when involved as a perpetrator. .

  The position / direction estimation system to which the present invention is applied includes an information processing apparatus 2, a measuring means 5, and a measured means 6 as shown in FIG. 1. The information processing apparatus 2 includes a command output unit 3 and a processing unit 4. The command output means 3 outputs measurement start and measurement end instructions to the measurement means 5. The processing unit 4 calculates the position and orientation of the user's palm based on the measurement result acquired from the measurement unit 5. The measuring unit 5 measures the distance from the plurality of units to be measured 6 according to the command output from the command output unit 3 and transmits the measurement result to the processing unit 4. There are a plurality of means 6 to be measured, which are attached to the user's hand.

  The processing means 4 can estimate the position and direction of the user's palm from the distance between the measuring means 5 and each measured means 6. Then, when the user's palm is facing outward as viewed from the user, it is determined to be a nuisance preliminary state (misunderstood state), and warning output is instructed to a warning means that issues a warning to the user. It may be configured. Further, the processing means 4 may be configured to instruct the warning means to output a warning when a state in which the measurement result cannot be obtained from the measurement means 5 continues for a certain time.

  Further, the processing unit 4 may be configured to hold data relating to the calculated palm position and orientation of the user in the storage unit in the information processing apparatus 2. The command output means 3 may be configured to output a measurement end command when the user gets off from public transportation, and to output a data transfer command from the storage means to the external storage means. The storage means may be configured to delete the stored measurement data after data transfer to the external storage means.

  Further, the command output means 3 may be configured to output a measurement start command when the user gets on a public transport and output a measurement end command when the user gets off. In that case, the processing means 4 calculates the position and direction of the palm only when the user is in public transportation. The processing unit 4 may be configured to calculate the position and orientation of the user's palm at regular intervals based on the measurement results at regular intervals by the measurement unit 5.

  In the present invention, the processing means 4 calculates the position and orientation of the user's palm based on the distance from the plurality of measured means 6 measured by the measuring means 5. Then, the preliminary state (misunderstood state) is determined from the calculated palm position and orientation, an alarm is issued to the user, and the calculation result (data regarding the palm position and orientation of the user) is stored in the storage means. It can be stored and saved.

  Hereinafter, embodiments of the present invention will be further described with reference to FIGS.

  FIG. 2 is a diagram showing a configuration of the position / direction estimation system according to the embodiment of the present invention. The position / orientation estimation system 10 includes an information processing device 20, transmitters / receivers 30 and 31, objects 40 and 41, a signal transmitter 50, a warning body 60, and an external storage device 70. The information processing apparatus 20 includes a switch unit 21, a processing unit 22, a storage unit 23, and a warning unit 24.

  The information processing device 20 calculates the position and orientation of the user's palm based on the measurement result from the transmitter / receiver, and issues a warning when it is determined that the state is misunderstood as a nuisance, and stores the calculated data. Or The switch unit 21 receives a signal from the signal transmission device 50 and outputs a measurement start or measurement end command to the transmitter / receiver. Further, the switch unit 20 outputs a data transfer command to the storage unit 23 simultaneously with outputting the measurement end command. The processing unit 22 acquires the measurement result from the transmitter / receiver, and calculates the position and orientation of the user's palm from the measurement result. Then, a state that is misunderstood as a nuisance action is determined from the position and orientation of the user's palm, the warning unit 24 is instructed to output a warning command, and the storage unit 23 is instructed to save the calculated data. The storage unit 23 stores data related to the user's palm position and orientation calculated according to the storage instruction from the processing unit 22, and transfers the calculated data stored according to the instruction of the switch unit 21 to the external storage device 70. The warning unit 24 outputs a warning command to the warning body 60 in accordance with an instruction from the processing unit 22.

  The first transmitter / receiver 30 to the nth receiver / transmitter 31 and a plurality of receivers / transmitters (n from 1 to n) are provided. Moreover, the transmitter / receiver is attached to a portion below the user's waist as shown in FIG. In FIG. 3 (b), four places on the belt, a transmitter / receiver A on the front side, a receiver / transmitter B on the rear side, a receiver / transmitter C on the right side, and a receiver / transmitter D on the left side. And a transmitter / receiver transmits an ultrasonic wave, a laser beam, or an infrared signal, etc., and measures the distance with each target object. The first transmitter / receiver 30 measures the distance from the first object 40 to the nth object part 41 with each object. Similarly, the nth transmitter / receiver 31 also measures the distance between the objects. Each transmitter / receiver receives a measurement start command from the switch unit 21, measures the distance to each target object, and transmits the measurement result to the processing unit 22.

  The target object is provided with a plurality (n pieces from 1 to n) of first object 40 to nth object 41. Further, the object is attached to a portion below the user's wrist as shown in FIG. In FIG. 3A, an object A is disposed on the back side of the right wrist, an object B is disposed on the palm side, an object C is disposed on the left side when viewed from the back of the hand, and an object D is disposed on the right side when viewed from the back of the hand. Similarly, for the left hand, an object a is disposed on the back side of the hand, an object b is disposed on the palm side, an object c is disposed on the right side when viewed from the back of the hand, and an object d is disposed on the left side when viewed from the back of the hand.

  As shown in FIG. 3 (c), the signal transmission device 50 is installed at the entrance / exit of public transportation, and always transmits a signal while the entrance / exit is open. For this reason, whenever the user passes the entrance / exit and gets on or off the public transport, the switch 21 of the information processing device 20 receives the signal from the signal transmission device 50. Then, the switch unit 21 outputs a measurement start or measurement end command to the transmitter / receiver.

  The warning body 60 performs a warning operation in accordance with a warning command from the warning unit 24 of the information processing apparatus 20. The warning operation can be an alarm, vibration or the like. In FIG. 2, the warning body 60 and the information processing apparatus 20 are configured differently, but the information processing apparatus 20 may be configured to have the warning body 60.

  The external storage device 70 stores the measurement data transferred from the storage unit 23 of the information processing device 20. It can be composed of a known recording medium such as a hard disk, a nonvolatile memory card, a magneto-optical disk, or the like.

  FIG. 4 is a chart showing a series of operations for calculating the position and direction in this embodiment. First, when the user passes through the entrance / exit of public transportation, a signal from the signal transmission device 50 is received by the information processing device 20 (step S1). The information processing apparatus 20 that has received the signal outputs a measurement start command to the transmitter / receiver 30 (step S2).

  The transmitter / receiver 30 measures the distance to the object by transmitting a signal to the object in accordance with the measurement start command (step S3). The measurement result is transmitted to the information processing apparatus 20 (step S4). In addition, when another person in the vicinity of the user has the same system, the transmitter / receiver 30 also recognizes information on the target object worn by the other person. Further, the transmitter / receiver 30 performs distance measurement every predetermined time (for example, every second) and transmits the measurement result to the information processing apparatus 20 (steps S6 and S7).

  The information processing apparatus 20 stores the measurement results received from the transmitter / receiver 30 at predetermined time intervals in the storage unit each time (steps S5 and S8). The storage may be separate data depending on the measurement date and time, or may be overwritten and stored. From the viewpoint of securing proof data, it is desirable to store the data for each measurement, and from the viewpoint of saving memory resources, it is desirable to save the data. The information processing device 20 calculates the position and orientation of the user's palm from the stored measurement results (distance information between the transmitter / receiver 30 and the target object 40) at a predetermined timing (step S9). Then, data relating to the calculated position and orientation of the user's palm is stored in the storage unit. The calculation of the position and orientation of the palm can be set to be performed every predetermined time, or can be set to be performed every time the measurement result is received from the transmitter / receiver.

  Specifically, the palm position and orientation are calculated as follows. That is, the position of the user's hand in the space and the orientation of the palm are estimated by calculating the positional relationship between the objects based on the distance information between the transmitter / receiver 30 and the object 40. For example, when the transmitter / receiver A attached to the waist side of the waist can measure the distance between the object C on the thumb side of the right wrist and the object B on the palm side, the following state is estimated. Can do. First of all, the right palm is not facing away from the user. Second, the right palm is located on the right half side of the user (if it is on the left half side, the object D on the child finger side should be measured). In this way, if the transmitter / receiver C mounted on the right side of the waist can measure the distance to any of the objects mounted on the right wrist, where the user's palm is seen from the waist and in which direction Can be identified. In addition, when it is not necessary for this distance measurement to consider the obstacle which exists between a transmission / reception device and a target object, it is sufficient to attach a transmission / reception device only to one place of a user's body.

  As a result of estimating the state of the palm of the user as described above, when the direction in which the palm is facing is determined to be outside as viewed from the user's body, the information processing apparatus 20 determines the preliminary state of nuisance (annoying behavior such as molesting) That is misunderstood). Then, a warning command is output so as to perform a warning operation on the warning body 60 (step S10). And the warning body 60 performs warning operation | movement according to a warning command, and issues a warning to a user (step S11).

  The information processing apparatus 20 also outputs a warning command to the warning body 60 even when distance information sufficient to estimate the user's palm state cannot be acquired from the transmitter / receiver 30. When the warning body 60 receives a warning command, the warning body 60 executes a warning operation and issues a warning to the user.

  Then, when the user gets off the entrance of public transport and gets off, a signal from the signal transmission device 50 is received by the information processing device 20 (step S12). When receiving the signal from the signal transmission device 50, the information processing device 20 outputs a measurement end command to the transmitter / receiver 30 (step S13). Further, the information processing apparatus 20 transfers the measurement result (distance information) and the calculation result (data regarding palm position and orientation) stored in the storage unit to the external storage device 70 together with the output of the measurement end command (step). S14). When the data transfer is completed, the information processing apparatus 20 deletes the measurement result and calculation result data stored in the storage unit (step S15). Then, the external storage device 70 receives the transfer data from the information processing device 20, writes the data, and stores it (step S16).

  The first effect of the present embodiment is that the position and direction of the user's palm at a specific time can be calculated and recorded. This is because the distance between the object mounted on the wrist and the transmitter / receiver mounted at a certain position is measured at a certain time interval and transmitted to the information processing apparatus, and the information processing apparatus This is realized by two points of calculating the measurement data and storing the result.

  The second effect of this embodiment is that the time zone for distance measurement by the transmitter / receiver can be limited while the user is on board. This is realized by configuring the switch unit of the information processing device to output a measurement start command and a measurement end command in accordance with a signal from a signal transmission device attached to the entrance / exit of public transportation.

  The third effect of the present embodiment is that the user can be warned when the user's palm is misunderstood as a molester. This is realized by operating the warning body when the user's palm is facing outward as viewed from the user as a result of position / direction estimation in the information processing apparatus.

  The fourth effect of the present embodiment is that the user can be warned when the distance measurement by the transmitter / receiver becomes impossible. This is realized by operating the warning body when the information processing apparatus cannot receive information from the transmitter / receiver for a certain period of time.

  The fifth effect of the present embodiment is that the recording capacity of the information processing apparatus can always be ensured. This is because the stored data is transferred from the information processing device to the external information storage device after the measurement by the transmitter / receiver is completed by the user's disembarkation, and the information is deleted from the information processing device. It is realized by.

  The above-described embodiment is a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiment alone, and various modifications are made without departing from the gist of the present invention. Implementation is possible.

  That is, the information processing apparatus 20 in the above-described embodiment operates by processing, means, and functions executed by a computer according to program instructions. The program sends a command to each component of the computer, and determines the position of the user's palm based on the predetermined processing and functions as described above, for example, the distance information acquired from the transmitter / receiver 30 by the processing unit 22. Is calculated to estimate the direction and state of the palm, and when it is determined that the state is misunderstood as a nuisance act such as a molester, the warning unit 24 is instructed to output a warning command. In addition, when the processing unit 22 calculates the position and orientation of the user's palm based on the distance information acquired from the transmitter / receiver 30, the storage unit 23 stores the calculation result (data regarding the user's palm state). I do. As described above, the processes and means in the above-described embodiment are realized by specific means in which the program and the computer cooperate.

  The program code stored in the storage medium, for example, by the computer (CPU) of the information processing apparatus 20 via a computer-readable recording medium that records the program code of the software that realizes the functions of the above-described embodiment, that is, the storage medium. The object of the present invention can also be achieved by reading and executing. Further, the program can be loaded and executed directly on a computer through a communication line without going through a recording medium, and the object of the present invention can be achieved similarly.

  In this case, the program code itself read from the storage medium or loaded and executed through the communication line realizes the functions of the above-described embodiment. And the storage medium which memorize | stored the program code comprises this invention.

  Examples of the storage medium for supplying the program code include a floppy (registered trademark) disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a nonvolatile memory card, a ROM, and a magnetic tape. Can be used.

It is the figure which showed the structure of the position direction estimation system with which this invention is applied. It is the figure which showed the structure of the position direction estimation system which concerns on embodiment of this invention. It is the figure which showed an example of the target object, receiver / transmitter, and signal transmitter in embodiment of this invention. It is a chart figure showing a series of operations of position direction calculation in an embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,10 Position direction estimation system 2,10 Information processing apparatus 3 Command output means 4 Processing means 5 Measuring means 6 Measured means 21 Switch part 22 Processing part 23 Storage part 24 Warning part 30 1st transmitter / receiver 31 nth transmission / reception 40 First object 41 nth object 50 Signal transmission device 60 Warning object 70 External storage device

Claims (23)

A position direction estimation system including a plurality of measured units mounted on a user's hand, a measuring unit that measures a distance from the measured unit, and an information processing apparatus,
The information processing apparatus includes:
Command output means for outputting measurement start and measurement end instructions to the measurement means;
Processing means for obtaining the distance between the measuring means and each of the measured means from the measuring means, and calculating the position and orientation of the palm of the user;
A position / orientation estimation system comprising: The information processing apparatus further includes warning means for issuing a warning to the user,
2. The processing unit according to claim 1, wherein the processing unit determines that the calculated palm orientation is outward when viewed from the user, and determines that the preliminary state is a nuisance act, and instructs the warning unit to output a warning. Position / direction estimation system. The information processing apparatus further includes storage means for storing a calculation result by the processing means,
The position / direction estimation system according to claim 1, wherein the processing unit sends data relating to the calculated palm position and orientation of the user to the storage unit, and instructs the storage unit to store data. . The command output means outputs a measurement start command to the measurement means when the user gets on public transport, and issues a measurement end command to the measurement means when the user gets off from the public transport. Output,
The position direction according to any one of claims 1 to 3, wherein the processing means calculates the position and orientation of the palm of the user only while the user is on public transport. Estimation system.   5. The method according to claim 1, wherein the processing unit calculates the position and orientation of the user's palm at regular intervals based on measurement results at regular intervals by the measurement unit. The described position and direction estimation system. The information processing apparatus further includes warning means for issuing a warning to the user,
6. The processing unit according to claim 1, wherein the processing unit determines that measurement is impossible when a state in which a measurement result cannot be obtained from the measurement unit continues for a predetermined time, and instructs the warning unit to output a warning. The position / direction estimation system according to claim 1. An external storage means is provided as a configuration of the position / direction estimation system,
The information processing apparatus further includes storage means for storing a calculation result by the processing means,
The processing means sends data relating to the calculated palm position and orientation of the user to the storage means, and instructs the storage means to store data,
The command output means outputs a measurement end command to the measurement means when the user gets off from public transportation, and outputs a data transfer command to the external storage means to the storage means. The position direction estimation system according to any one of claims 1 to 6. An external storage means is provided as a configuration of the position / direction estimation system,
The information processing apparatus further includes storage means for storing a calculation result by the processing means,
The processing means sends data relating to the calculated palm position and orientation of the user to the storage means, and instructs the storage means to store data,
The command output means outputs a measurement end command to the measurement means when the user gets off from public transportation, and outputs a data transfer command to the external storage means to the storage means,
8. The position / direction estimation system according to claim 1, wherein the storage unit deletes the stored data after performing data transfer according to the data transfer instruction. . An information processing apparatus that constitutes a position / direction estimation system together with a plurality of measured units mounted on a user's hand and a measuring unit that measures a distance from the measured unit,
Command output means for outputting measurement start and measurement end instructions to the measurement means;
Processing means for obtaining the distance between the measuring means and each of the measured means from the measuring means, and calculating the position and orientation of the palm of the user;
An information processing apparatus comprising: Warning means for issuing a warning to the user;
10. The processing unit according to claim 9, wherein the processing unit determines that the calculated palm orientation is facing outward when viewed from the user, and is in a nuisance preparatory state, and instructs the warning unit to output a warning. Information processing device. A storage unit that stores a calculation result obtained by the processing unit;
11. The information processing apparatus according to claim 9, wherein the processing unit sends data relating to the calculated palm position and orientation of the user to the storage unit and instructs the storage unit to store data. The command output means outputs a measurement start command to the measurement means when the user gets on public transport, and issues a measurement end command to the measurement means when the user gets off from the public transport. Output,
12. The information processing according to claim 9, wherein the processing unit calculates the position and orientation of the user's palm only while the user is in public transportation. apparatus.   13. The method according to claim 9, wherein the processing unit calculates the position and orientation of the user's palm at regular intervals based on measurement results at regular intervals by the measurement unit. The information processing apparatus described. Warning means for issuing a warning to the user;
The said processing means judges that it is a measurement impossible state when the state which cannot acquire a measurement result from the said measurement means continues for a fixed time, and instruct | indicates warning output to the said warning means, Any one of Claim 9-13 characterized by the above-mentioned. The information processing apparatus according to claim 1. A storage unit that stores a calculation result obtained by the processing unit;
The processing means sends data relating to the calculated palm position and orientation of the user to the storage means, and instructs the storage means to store data,
The command output means outputs a measurement end command to the measurement means when the user gets off from public transportation, and a data transfer command to an external storage means further provided as a configuration of the position / direction estimation system The information processing apparatus according to claim 9, wherein the information processing apparatus outputs the information to the storage unit. A storage unit that stores a calculation result obtained by the processing unit;
The processing means sends data relating to the calculated palm position and orientation of the user to the storage means, and instructs the storage means to store data,
The command output means outputs a measurement end command to the measurement means when the user gets off from public transportation, and a data transfer command to an external storage means further provided as a configuration of the position / direction estimation system To the storage means,
16. The information processing apparatus according to claim 9, wherein the storage unit deletes the stored data after performing data transfer according to the data transfer instruction. A position and direction estimation method in a position and direction estimation system comprising a plurality of measured units mounted on a user's hand, a measuring unit that measures a distance from the measured unit, and an information processing apparatus,
In the information processing apparatus,
A command output step for outputting measurement start and measurement end commands to the measurement means;
A processing step of obtaining a distance between the measurement unit and each of the measured units from the measurement unit, and calculating a position and orientation of the palm of the user;
A position direction estimation method characterized by comprising: The processing step determines a nuisance preparatory state when the calculated palm orientation is facing outward as viewed from the user, and instructs a warning output;
18. The position direction estimation method according to claim 17, further comprising a warning step of issuing a warning to the user when a warning output is instructed by the processing step in the information processing apparatus. The processing step sends out data relating to the calculated palm position and orientation of the user to a storage means in the information processing apparatus, and instructs the storage means to store data,
19. The position / direction estimation method according to claim 17 or 18, further comprising a storage step of storing the calculation result of the processing step in the storage unit in the information processing apparatus. A program used in a position / direction estimation system including a plurality of measured units mounted on a user's hand, a measuring unit that measures a distance from the measured unit, and an information processing apparatus,
On the computer,
A command output function for outputting measurement start and measurement end commands to the measurement means;
A processing function for obtaining a distance between the measuring unit and each of the measured units from the measuring unit, and calculating a position and orientation of the palm of the user;
A position and direction estimation method characterized by realizing the above. The processing function determines a nuisance preparatory state when the calculated palm orientation is facing outward as viewed from the user, and instructs a warning output,
21. The program according to claim 20, further causing a computer to realize a warning function for issuing a warning to the user when a warning output is instructed by the processing function. The processing function sends data relating to the calculated position and orientation of the user's palm to the storage means in the information processing apparatus, and instructs the storage means to store data.
The program according to claim 20 or 21, further causing a computer to realize a storage function of storing a calculation result by the processing function in the storage unit.   23. A recording medium on which the program according to claim 20 is recorded and readable by a computer.

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