JP2012098111A - Portable navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a portable navigation device capable of showing a user specific facilities which the user has failed to notice.SOLUTION: A portable navigation device (10) is possessed by a user and moves with the user's movement. The device (10) searches and registers specific facilities such as toilets or convenience stores on movement paths through which the user has passed by performing image processing on moving image data taken by a camera while the user was moving. When the user requires, the device (10) shows the user the nearest detection point of the specific facility, for example, by a display.

Description

  The present invention relates to a portable navigation device, and in particular, detects a specific facility existing on a route traveled by a user, such as a toilet, a convenience store (convenience store), a vending machine (vending machine), and the like. The present invention relates to a novel portable navigation device that can memorize and present a detection point to a user when the user needs it.

  Patent Document 1 describes a facility on a map within a certain distance from the position of a pedestrian detected by a GPS device for a pedestrian such as an elderly person or a disabled person who often has difficulty in moving. Is output for.

  In this patent document 1, it is possible to provide pedestrians with information on toilets for persons with disabilities, barrier-free facilities, and facilities that serve as guidelines for routes to destinations.

Further, in Patent Document 2, based on the predicted traveling point of the vehicle, a break area near the vehicle is found from the map data, and an attempt is made to appropriately provide break guidance to the user of the vehicle.
JP2003-148993A [G01C 21/00 G08G 1/005 G09B 29/10] JP 2008-32558 A [G01C 21/00 G08G 1/0969]

  According to the above background art, there is an advantage that necessary facility information can be provided to pedestrians and vehicle users. However, any of the background arts presents facility information registered in the map data near the position specified by the GPS, and is not only applicable when there is no map data. Even if you have a pedestrian, you cannot present pedestrians with facilities that are not on the map.

  Therefore, the main object of the present invention is to provide a novel portable navigation device.

  Another object of the present invention is to provide a portable navigation device that can be appropriately presented to a user who travels through a necessary facility without having map data or on a map.

  The present invention employs the following configuration in order to solve the above problems. The reference numerals in parentheses, supplementary explanations, and the like indicate correspondence relationships with embodiments described later to help understanding of the present invention, and do not limit the present invention in any way.

  A first invention is a portable navigation device that includes a camera and moves with a user, based on position detection means for detecting a moving position when moving with the user, based on a camera image taken by the camera during movement. Detection means for detecting a specific facility, registration means for registering a detection point in relation to the movement position when the specific facility is detected by the detection means, and the nearest registered in the registration means in response to a user input operation It is a portable navigation apparatus provided with a presentation means for presenting the detected points.

  In the first invention, the portable navigation device (10) moves together with the user (1). During the movement, the position detection means (38, S1-S13, 48) detects the movement position. The camera (22) always captures moving images or continuous still images while moving. The detection means (38, S21, S31-S35) detects whether there is a specific facility based on the moving image or the still image. When the detection means detects a specific facility such as a toilet, a convenience store, a vending machine, etc., the registration means (38, S37) registers the detection point. When the user performs an input operation (S23), the presentation unit (38, S25) presents the nearest detection point among the detection points registered by the registration unit to the user. The presentation method includes a method of displaying on a display.

  According to the first invention, since the specific facility is detected from the camera image taken by the camera when the user is actually moving, even if there is no map data or it is not on the map It is possible to accurately present the detection point of the specific facility that the user needs.

  The second invention is dependent on the first invention, and the specific facility is set with a unique mark or graphic, and the detection means includes the specific facility when the mark or graphic is included in the camera image. Is a portable navigation device that detects the presence of

  In the second invention, the detection means performs image processing on the camera image according to a technique such as SIFT or SURF, and when there is a judgment that the image is similar to a mark or a figure registered in advance in the database, It is detected in the camera image. According to the second invention, the specific facility can be detected by simple image processing.

  A third invention is dependent on the first or second invention, and further includes a movement route generation unit that generates a movement route based on the movement position detected by the position detection unit, and the presentation unit includes the detection point together with the movement route. Is a portable navigation device that presents

  In the third invention, the movement path generation means (38, S1-S13) generates a movement locus from the movement position detected by the GPS means (48) included in the position detection means, for example. And a presentation means presents a detection point with the movement path | route. According to the third aspect, since the detection point is presented together with the movement route, it is possible to easily grasp where the detection point has moved.

  A fourth invention is a portable navigation device according to any one of the first to third inventions, further comprising guidance means for guiding in the reverse direction to the detection point according to the movement route.

  In the fourth invention, the guiding means (38, S27, S41-S51) guides the user in the reverse direction to the detection point according to the movement route generated by the movement route generation means. According to the fourth aspect of the present invention, even when the user cannot remember the travel route that he / she moved or cannot fully understand, the user can be guided to the specific facility.

  A fifth invention is dependent on any one of the first to fourth inventions, the detecting means detects a plurality of types of specific facilities, and the user input operation includes an input operation for designating a type of the specific facility, and presents The means is a portable navigation device that presents the nearest detection point of the specific facility designated by the user.

  In the fifth invention, a plurality of types of specific facilities such as a toilet and a convenience store can be detected, and the nearest detection point of the specified specific facility can be presented according to the user's specification.

  A sixth aspect of the invention is a navigation program executed by a computer of a portable navigation device that includes a camera and moves with the user, the position detecting means for detecting a moving position when the computer moves with the user, and movement Detecting means for detecting a specific facility based on a camera image taken by the camera, a registration means for registering a detection point in relation to a moving position when the specific facility is detected by the detecting means, and responding to a user input operation Thus, the navigation program is caused to function as a presentation unit that presents the nearest detection point registered in the registration unit.

  According to the sixth aspect, the same effect as in the first aspect can be expected.

  According to the present invention, when the user is actually moving, the specific facility existing on the moving route is automatically detected, and the detected point is stored, so even if there is no map data, Or even if it is not on the map, the location of the specific facility that the user needs can be presented to the user.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

FIG. 1 is an illustrative view showing an appearance of a portable navigation device according to one embodiment of the present invention. FIG. 2 is an illustrative view showing one example of a usage form of the portable navigation device of FIG. 1 embodiment. FIG. 3 is a block diagram illustrating a configuration of the portable navigation device according to the embodiment. FIG. 4 is an illustrative view showing one example of a RAM memory map of the portable navigation device of the embodiment. FIG. 5 is a flowchart showing an example of route data acquisition operation in the portable navigation device of the embodiment. FIG. 6 is an illustrative view showing one example of route data acquired in the embodiment of FIG. 5 and recorded in the route data area. FIG. 7 is a flowchart showing an example of the overall operation of searching for and recording a specific facility and presenting the nearest specific facility to the user as necessary in the portable navigation device of the embodiment. FIG. 8 is a flowchart showing an example of a detection target search operation in the embodiment of FIG. FIG. 9 is an illustrative view showing one example of a searched target list searched in the embodiment of FIG. FIG. 10 is an illustrative view showing one example of a display presenting the nearest specific facility selected by the user in FIG. 7 embodiment. FIG. 11 is a flowchart showing an example of the guiding operation in the embodiment of FIG.

  Referring to FIG. 1, a portable navigation device 10 according to one embodiment is typically a portable information terminal having both the function of a mobile phone and the function of a PDA (Personal Digital Assistant), like a so-called smartphone. is there. In the embodiment, a mobile phone iphone (product name) manufactured by Apple Inc. is assumed as an example. Of course, any portable information terminal such as a mobile phone, a smartphone, or a PDA having equivalent functions of other companies can be used. is there.

  The portable navigation device 10 according to the embodiment is located on a route where the user travels, such as a toilet, a convenience store, or a vending machine, when the user has not felt the necessity, that is, when the user is not looking for, It is a kind of storage complementing device that automatically detects and stores the detected point, and presents the detected point of the facility to the user when the user feels necessary. However, in the navigation device 10 of the embodiment, if necessary, the user is guided to the detection point. According to the navigation device of this embodiment, since the specific facility on the route actually traveled by the user is detected and recorded or stored, even if there is no map data or it is not posted on the map In addition, the location of the nearest specific facility on the route taken by the user can be presented.

  The portable navigation device 10 of the embodiment includes a substantially rectangular flat housing 12, and a display 14 such as an LCD (Liquid Crystal Display) is provided on the front surface of the housing 12. A touch panel 16 is arranged. The touch panel 16 may be either a resistance film type or a capacitance type, or may be another type of touch panel.

  A push button switch 18 called a “home button” is provided on the front surface of the housing on the right side of the display 14. The switch 18 is used for various menus, a camera shutter, and various other hardware. Switch. A microphone 20 indicated by a dotted line in FIG.

  A camera 22 indicated by a dotted line in FIG. 1 is provided on the rear surface of the left housing of the display 14. The camera 22 constitutes a video or image input means or a part thereof. A speaker 24 is disposed on the front surface of the housing 12 below the camera 22.

  On the display 14 below the touch panel 16, a toilet button 26 and a convenience store button 28 indicating a toilet and a convenience store, which are one of the facilities that the user of the navigation device 10 desires to supplement the memory, are displayed as so-called soft keys. When the user touches the touch panel 16 at the position of the toilet button 26 or the convenience store button 28, a signal indicating that the user has selected the toilet or convenience store at that time is input to the CPU 38 described later. However, the specific facility is not limited to the toilets and convenience stores listed here, but may be any other facility such as a vending machine or a supermarket.

  Such a portable navigation device 10 of the embodiment configured by a portable terminal is used, for example, in the usage pattern shown in FIG. That is, the portable navigation device 10 is suspended from the strap of the user (pedestrian) 1 around the neck of the user 1 at the position of the chest. At this time, the camera 22 is configured to be able to capture the front and is set to a mode in which a moving image or continuous still image can be captured. The shooting time interval in the case of a still image is arbitrary, but may be about 1 second, for example. In the case of moving image shooting, shooting is performed at the default frame rate set in the apparatus.

  Referring to FIG. 3, portable navigation device 10 includes gyro sensor (3-axis geomagnetic sensor) 30 and 3 in addition to display 14, touch panel 16, switch 18, microphone 20, camera 22 and speaker 24 described above. The sensor data from the gyro sensor 30 and the acceleration sensor 32 including the axial acceleration sensor 32 are input through the sensor I / F 34.

  The portable navigation device 10 according to the embodiment further includes a CPU 38, a ROM 40, a RAM 42, a flash memory 44, a wireless communication circuit 46, a GPS circuit 48, and a clock circuit 50. The radio communication circuit 46 can make a voice call (telephone) by the navigation device 10 or connect to the net to transmit / receive data and electronic mail. A GPS (Global Positioning System) circuit 48 is used to specify the current position of the navigation device 10. The clock circuit 50 can know the current time.

  The above-described gyro sensor 30 detects the strength of the geomagnetism in the orthogonal three-axis directions. In this embodiment, the gyro sensor 30 is used together with the CPU 38 to configure an electronic compass or a digital compass. As is well known, the electronic compass combines two geomagnetic sensors at right angles to detect the geomagnetism in the front-rear direction and the left-right direction, and calculates which is the north direction from the strength. In this embodiment, the triaxial acceleration sensor 32 is used to measure the walking speed of a person carrying the device 10, that is, a pedestrian. However, the method of counting the walking speed based on the output of the acceleration sensor 32 is well known and will not be described in detail here.

  The number of steps can also be measured based on the outputs of the gyro sensor 30 and the acceleration sensor 32. For example, since GPS does not work in large stores such as department stores and supermarkets, the movement (walking) route between them is estimated by compass direction data and walking distance data based on the number of steps. However, the method of counting the number of steps based on the output of the gyro sensor or the acceleration sensor is well known and will not be described in detail.

  The RAM 42 included in the navigation device 10 is provided with a program area 52 and a data area 54 as shown in FIG. In the program area 52, various programs preset in the ROM 40 are developed when used. For example, the OS area 521 stores a multi-task OS (Multi-task Operating System).

  In the search program area 522, as shown in FIG. 6 to be described later, for example, an SIFT (Scale-Invariant Feature Transform: algorithm for detecting feature points and describing feature quantities) Robust feature quantities are described for points, such as image rotation, scale change, illumination change, etc.) and SURF (Speeded Up Robust Features: algorithm for performing robust image detection and description). By recognizing patterns, programs for searching for specific facilities such as toilets and convenience stores are set up. This search program is a program for searching for a detection target such as a toilet and registering the detected detection target in a list.

  The route recording program area 523 stores a program for recording route data (described later) when walking (moving) while holding the navigation device 10 of the embodiment as shown in FIG.

  As described above, the navigation device 10 or attached to the navigation device 10 is provided with various sensors 30 and 32 such as a gyro sensor via the sensor I / F 34. A sensor data acquisition program for capturing sensor data is set in the sensor data acquisition program area 524. Then, a GPS data acquisition program for acquiring data on the current position of the navigation device 10 using the GPS circuit 48 is set in the GPS data acquisition program area 525.

  In the embodiment, the means for acquiring the route data recorded by the above-described route recording program is acquired by the output data of the gyro sensor 30 and the acceleration sensor 32 acquired by the sensor data acquisition program and the GPS data acquisition program. GPS data is used. The GPS data is used as current position data indicating the current position of the navigation device 10. The output data of the gyro sensor 30 is used to acquire data indicating whether the user is traveling straight, turned right, or turned left. The electronic compass that can specify the direction specifies the direction based on the output data of the gyro sensor 30 as described above. As described above, the output data of the acceleration sensor 32 is used to acquire data on the moving (walking) speed and the number of steps.

  In the guidance program area 526, a program for presenting the nearest specific facility searched by the search program 522 on the route recorded by the route recording program 523 to the user and guiding the user to the specific facility as necessary. Is set.

  A sensor data storage area 541 is set in the data storage area 54 of the RAM 42, and sensor data (GPS, acceleration, gyro, etc.) data acquired by the above-described sensor data acquisition programs 524, 525 is stored in the sensor data storage area 541. Is temporarily stored.

  In the search target image database 542, images of facilities, such as toilets, convenience stores, and vending machines, which are determined as search targets in the navigation device 10 of the embodiment, typically pictograms representing toilets, convenience store Feature quantities such as service marks (graphics) of each company and outline figures of vending machines are registered in advance. Since there are a plurality of types of pictographs indicating the toilet, it is desirable to register as many of these pictographs as possible. In addition, it is desirable to register as many mark figures as possible, not just major convenience stores, even if they are convenience store graphic marks. In addition, the vending machine has a wide variety of external shapes, but there is a common size in the basic form that there is a housing of a certain size, and there is a product sample and a sales button in the area surrounded by the front. It is only necessary to register several types of external shapes.

  In the detection target facility list area 543, the data indicating the target facility, toilet, convenience store, and vending machine searched by the search program 522 is displayed in the form of the list illustrated in FIG. Registered in any other format.

  The route data area 544 stores route data as shown in FIG. In the route data, time data and the walking state of the pedestrian (user) at that time, for example, whether the vehicle is going straight or turning left and right, are recorded once per second as an example.

  The working area 545 is a temporary storage area.

  In the embodiment of FIG. 3, each sensor 30 and 32 is connected to the sensor interface 34 by wire, and therefore the sensor data is illustrated as being taken into the CPU 38 by wire. However, it is also conceivable that the sensor data of these sensors 30 and 32 is input wirelessly using, for example, short-range wireless such as Bluetooth (product name) or Zigbee (product name). In this case, the sensor data acquisition program 524 is changed so as to acquire sensor data from the wireless communication circuit 46.

  Here, with reference to FIG. 5, the operation | movement which acquires and records route data in the navigation apparatus 10 of this Example is demonstrated. However, the route acquisition operation can be automatically executed approximately once per second from the start to the end of movement (walking) according to FIG. However, when the movement is started, the power of the navigation apparatus 10 is turned on, and the camera 22 is in an operating state (on) as described above.

  In the first step S1, the CPU 38 acquires the gyro sensor 30, the acceleration sensor 32, and GPS data according to the sensor data acquisition program 524 and the GPS data acquisition program 525 (FIG. 4). These sensor data and GPS data are temporarily stored in the working area 545 (FIG. 4). At the same time, in step S1, image data captured by the camera 22 (in the case of a moving image, image data of the image of the frame at that time) is further captured. In the path recording operation of FIG. 5, the camera image is used for landmark detection described later.

  In step S3, the CPU 38 recognizes whether the user (pedestrian) goes straight, turns right, or turns left based on the temporarily stored sensor data and GPS data. The recognition of the straight / right / left turn can be easily determined by checking the data change of the gyro sensor 30 in particular. For example, if the angular velocity does not change to the left or right, it can be determined that the vehicle turns straight or turns left or right.

  In step S5, the CPU 38 determines whether the walking state recognized in step S3 indicates a right or left turn.

  In the case of a right / left turn, “YES” is determined in the step S5, and in the next step S7, the time data of the clock circuit 50 is recorded as the time of the right / left turn. At the same time, in step S9, the straight travel distance is estimated based on the GPS data, and the camera image is processed to detect the landmark (landmark) of the right / left turn point. An example of the landmark is typically a traffic light, but a red signboard or a large outdoor display can also be detected. In particular, there are no traffic lights at the right and left turn points in large stores, so these signboards and the like should be used as marks for turning left and right.

  The “straight-ahead distance” means the distance traveled straight until turning right or left at this point, and the distance from the previous right or left turn point. This distance was used in the “presentation of the nearest specific facility” described later. , Display along the route. When presenting a specific facility, the user's convenience is further improved by displaying the distance together.

  In this embodiment, GPS data at each time is also recorded as the movement route data in FIG. 6, but the GPS data at each time is plotted by moving points as shown in FIG. This is used when displaying as one moving route. However, in FIG. 6, only the most recent GPS data is shown in order to prevent the drawing from becoming complicated.

  If “NO” is determined in the step S5, the vehicle is traveling straight, so in the next step S11, time data of the time during the straight traveling at that time is recorded. At the same time, in step S13, the camera image is processed to detect a landmark (landmark) at the straight traveling point. An example of the mark can be considered as in step S9.

  An example of route data of the movement (walking) route detected according to FIG. 5 is shown in FIG. In FIG. 6, the same applies to FIG. 9 described later, but the time elapses from the bottom to the top of the drawing. In the example of FIG. 6, it can be seen that the eastward direction continued from 10:00:02 and before that, and turned left at 10:00:27 and turned northward. And it is recorded that the eastward rectilinear distance to the left turn point is 300m.

  Next, with reference to FIG. 7, the overall operation from the search for a specific facility to the presentation to the user and guidance in the navigation device 10 of the embodiment will be described. The operation shown in FIG. 7 is basically executed once per second by the multitask function of the CPU 38 in parallel with the path recording operation shown in FIG. Therefore, in the first step S21 in FIG. 7, the sensor data and camera image acquired in step S1 in FIG. 5 are used and registered in advance as search targets in the search target image database 542 (FIG. 4) according to the search program 522. Search for a specific facility that has been.

  Specifically, as shown in FIG. 8, in step S31, the camera image acquired in step S1 of FIG. 5 is processed by a technique such as SIFT or SURF in accordance with the search program 522, and the feature amount of the mark or figure is obtained from the camera image. Ask for. Next, in step S33, the feature amount extracted in step S31 is compared with the feature amount of the mark or figure registered in advance in the search target image database 542, that is, the mark or figure detected from the camera image and the registered mark. Alternatively, by comparing with a figure, it is determined whether or not the search target specific facility is included in the camera image at that time and what kind of the specific facility (toilet, convenience store, vending machine, etc.) is.

  If it is included, the CPU 38 determines “YES” in the next step S35. Therefore, in the subsequent step S37, the CPU 38 additionally registers the specific facility detected at that time in the detection target facility list shown in FIG.

  In the example of FIG. 9, the detected time data according to the time data from the clock circuit 50 is recorded in the left column, and the type data of the searched specific facility determined in step S43 is recorded in the middle column. In the right column, longitude and latitude data of the detection point of the specific facility is recorded according to, for example, GPS data.

  If you are walking at a normal speed, it is rare that a specific facility is detected for a moment (1 second). Normally, the same specific facility should be detected several times in succession. It is. In such a case, in the embodiment, the specific facility is registered at the time of the last detection. This is because, since it is considered that the specific facility is usually passed at the last detected position, the last detected position is considered to be the closest to the actual position of the specific facility.

  Therefore, when the detection target specific facility list shown in FIG. 9 is registered, the type of the specific facility detected at that time is overwritten every time detection is performed, and if the detection is not detected, the immediately preceding detection point becomes the last detection point. I am doing so.

  Returning to FIG. 7, in the next step S <b> 23, the CPU 38 determines whether or not the user (pedestrian) has selected a specific facility for which the navigation device 10 wants to perform memory complementation as a target. As described above, this determination can be performed by determining whether the user touches the area of the button 26 or 28 (FIG. 1) of the touch panel 16 according to a touch detection program (not shown).

  If it is determined in step S23 that a touch on the toilet button 26 has been detected, in the next step S25, for example, as illustrated in FIG. At the same time, it is displayed on the display 14. However, the movement route 56 can be easily drawn simply by plotting according to the GPS data included in the movement route data of FIG.

  In the display example of FIG. 10, since the time when the toilet was last detected is also displayed, for the convenience of comparison with the time, a current time display area 58 is provided on the display 14 and the current time is displayed there. (The time selected by the user in step S23) is displayed. In FIG. 10, the straight distance detected in the previous step S <b> 9 is also displayed along the movement path 56. For example, in the display example of FIG. 10, the straight travel distance from the first north-facing left turn to the next east-facing right turn is 350 m, the right turn straight travel distance is 90 m, and the straight travel distance from the last left turn to the present is It turns out that it is 300m.

  After presenting the nearest detection point of the specific facility selected by the user in step S25, in step S27, the user is guided in the reverse direction from the current location to the nearest detection point. However, this step S27 is optional, and can be deleted if unnecessary. A GUI (not shown) is displayed and the user is asked, “Would you like to guide you to the nearest detection point?” And the user answered “Yes” It may be executed only when

  The guidance operation in the reverse direction will be described with reference to FIG.

  In the first step S41, the CPU 38 reads the data of the movement route as shown in FIG. 6 from the target specific facility selected by the user to the current location from the route data area 544 (FIG. 4). Then, in step S43, the straight distance to the next right / left turn (shown in parentheses in the right column of FIG. 6) is presented and, if any, a landmark (landmark) at the right / left turn point, for example, specified Present colored signs, signals, etc. In this step S43, the straight distance and the mark can be presented while the route 56 is displayed on the display 14 in the same manner as the nearest detection point of the specific facility as shown in FIG.

  In the next step S45, the CPU 38 reads out the sensor data and camera image data acquired in step S1 (FIG. 5) from the sensor data area 541 (FIG. 4), and proceeds straight in step S47. Recognize whether it should turn right or left. For example, rectilinear / right / left turn can be recognized by comparing the GPS data for each time recorded in the route data read out in step S41 with the GPS data (current location) at the time of reverse direction guidance. it can. However, in a room where GPS cannot be used, it is necessary to predict the current point by measuring the number of steps as described above.

  If “YES” in the step S49, that is, if it is determined in the step S49 that a right / left turn is to be made, in the next step S51, the CPU 38 switches to presenting a route to the next right / left turning point.

  In the above-described embodiment, a plurality of types of specific facilities can be searched on the route, and the user can designate or select any one of them. However, only one type of specific facilities may be searched. In that case, the user's selection (step S23: FIG. 7) is unnecessary, and for example, the user may proceed to step S25 only by touching the touch panel.

  Further, as a method of presenting the nearest specific facility to the user, as shown in FIG. 10, the moving path 56 is displayed on the display unit 14, and the detection point of the specific facility is displayed along the moving path. However, instead of displaying the graphic such as the movement route 56, the text may be displayed only as text, for example, "Toilet was detected at time (hours, minutes, seconds)." Furthermore, instead of the display on the display 14, it may be presented as an audio output from the speaker 24, for example, “The toilet was detected at the time (hours, minutes, seconds)”.

  Moreover, in the Example, it demonstrated as a user searching for the specific facility ahead by moving with the walk of the pedestrian and the user. However, the portable navigation device of the present invention may be one that moves together with a person who is moving in a wheelchair, in addition to one that is held and moved by a pedestrian. In other words, it is not exclusively for pedestrians.

DESCRIPTION OF SYMBOLS 10 ... Portable navigation apparatus 14 ... Display device 16 ... Touch panel 38 ... CPU (computer)
42 ... RAM
52 ... Program area 54 ... Data storage area

Claims (6)

A portable navigation device comprising a camera and moving with a user,
Position detecting means for detecting a moving position when moving together with the user;
Detecting means for detecting a specific facility based on a camera image taken by the camera during movement;
A registration unit for registering a detection point in relation to a moving position when the specific facility is detected by the detection unit, and a nearest detection point registered in the registration unit in response to a user input operation A portable navigation device comprising a presenting means. The specific facility has its own mark or figure,
The portable navigation device according to claim 1, wherein the detection unit detects the presence of the specific facility when the mark or figure is included in the camera image.   3. The portable type according to claim 1, further comprising movement path generation means for generating a movement path based on the movement position detected by the position detection means, wherein the presentation means presents the detection point together with the movement path. Navigation device.   4. The portable navigation device according to claim 1, further comprising guidance means for guiding the detection point in the reverse direction according to the movement route.   The detecting means detects a plurality of types of specific facilities, and the user's input operation includes an input operation for specifying the type of the specific facilities, and the presenting means presents the nearest detection point of the specific facility designated by the user The portable navigation device according to any one of claims 1 to 4. A navigation program executed by a computer of a portable navigation device comprising a camera and moving with a user,
The computer,
Position detecting means for detecting a moving position when moving together with the user;
Detecting means for detecting a specific facility based on a camera image taken by the camera during movement;
A registration unit for registering a detection point in relation to a moving position when the specific facility is detected by the detection unit, and a nearest detection point registered in the registration unit in response to a user input operation A navigation program that functions as a presentation means.

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