JP2021162463A - Information processing device, information processing method, and program - Google Patents

Abstract

To enable positioning in a more preferable mode even under a situation in which it is difficult to maintain the state where a radio signal from a satellite can be received constantly.SOLUTION: An information processing device according to the present invention includes: first acquisition means for acquiring first information about an absolute position and posture of a predetermined housing in a real space; second acquisition means for sequentially acquiring, along time series, second information according to change in a relative position of the housing; and estimation means for estimating the absolute position of the housing in the real space at timing when the change in the relative position of the housing indicated by the second information is detected, on the basis of the absolute position and posture of the housing according to the first information.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to information processing devices, information processing methods, and programs.

In recent years, a mechanism that enables positioning of a moving body has been put into practical use by using a technology called GNSS (Global Navigation Satellite System) represented by GPS (Global Positioning System). In GPS positioning, a wireless signal transmitted from a satellite is received by a terminal device, and the time difference between the timing at which the wireless signal is transmitted and the timing at which the wireless signal is received is used between the satellite and the terminal device. By calculating the distance between the terminals, the position of the terminal device is estimated. For example, Patent Document 1 discloses an example of a technique for estimating the position of a moving body using GPS.

Japanese Unexamined Patent Publication No. 2014-25890

On the other hand, in a situation where the positioning of a mobile body is performed using a wireless signal transmitted from a satellite such as GNSS, in an environment covered with a shield such as a roof or a wall surface such as indoors or underground facilities. , The radio signal is shielded by the shield, which may make highly accurate positioning difficult.

In view of the above problems, it is an object of the present invention to enable positioning in a more preferable manner even in a situation where it is difficult to maintain a state in which radio signals from satellites can be constantly received. ..

The information processing apparatus according to the present invention responds to a change in the relative position of the housing with the first acquisition means for acquiring the first information regarding the absolute position and posture of the predetermined housing in the real space. The second information indicates the second acquisition means for sequentially acquiring the second information in chronological order, and the second information based on the absolute position and orientation of the housing according to the first information. An estimation means for estimating the absolute position of the housing in the real space at the timing when a change in the relative position of the housing is detected is provided.

According to the present invention, positioning in a more preferable mode is possible even in a situation where it is difficult to maintain a state in which a radio signal from a satellite can be constantly received.

FIG. 1 is a diagram for explaining an outline of a technique related to positioning. FIG. 2 is a diagram showing an example of the hardware configuration of the terminal device. FIG. 3 is an explanatory diagram relating to the local coordinate system. FIG. 4 is an explanatory diagram relating to estimation of the absolute position and posture of the housing. FIG. 5 is an explanatory diagram relating to a method of estimating the absolute position of the housing. FIG. 6 is an explanatory diagram relating to a method of estimating the absolute position of the housing. FIG. 7 is an explanatory diagram relating to the determination of the reference point used for deriving the absolute coordinates. FIG. 8 is a block diagram showing an example of the functional configuration of the terminal device. FIG. 9 is a flowchart showing an example of processing of the terminal device. FIG. 10 is an explanatory diagram relating to an application example of the technique according to the present embodiment.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

<Overview>
First, with reference to FIG. 1, an outline of a technique related to positioning by an information processing apparatus according to the present embodiment will be described. The terminal device 100 according to the present embodiment is configured to be portable by a user like a so-called smartphone, tablet terminal, or the like. Under such a premise, the terminal device 100 uses various sensors supported by the housing, an imaging unit, and the like to relative the position of the housing (in other words, the position of the terminal device 100 itself). Change is detected.

As a specific example, the terminal device 100 extracts feature points of an object captured as a subject and a background from each of the images sequentially acquired according to the imaging result by the imaging unit supported by the housing, and the features The subject may be tracked based on the point extraction result. This makes it possible for the terminal device 100 to calculate changes in the relative position and posture of the housing with reference to the subject corresponding to the extracted feature points.
Further, as another example, the terminal device 100 may calculate changes in the relative position and posture of the housing based on the detection results of the acceleration sensor, the angular velocity sensor, and the like supported by the housing.
Of course, the above is only an example, and as long as the terminal device 100 can derive a change in the relative position and posture of the housing, the method and the configuration for realizing the method are not particularly limited. For example, the terminal device 100 may sequentially calculate the distance between an object in the real space and the housing in chronological order by using a distance measuring sensor supported by the housing. As a result, the terminal device 100 can calculate a change in the relative position and posture of the housing with respect to the object for which the distance is to be calculated by using the calculation result of the distance.

As described above, the terminal device 100 sequentially calculates at least the relative position change of the housing along the time series. Then, the terminal device 100 tracks the change in the relative position of the housing (in other words, the movement path) along the time series, so that the terminal device 100 internally manages the housing in the local coordinate system. Estimate the position.

On the other hand, the local coordinate system internally managed by the terminal device 100 does not always have the same axis as the absolute coordinate system in the real space (hereinafter, also referred to as "absolute coordinate system"). Further, even if the local coordinate system and the absolute coordinate system match, it is difficult for the terminal device 100 to recognize the match between the coordinate systems only from the information in the local coordinate system.
Therefore, the terminal device 100 estimates the absolute position and posture of the housing at at least one position on the path related to the movement, and uses the estimation result to obtain local coordinates for other positions as well. Convert the position of the housing in the system (relative position) to the position in the absolute coordinate system (absolute position). In the following description, the above-mentioned position where the absolute position and posture of the housing are estimated is also referred to as a "reference point" for convenience.
Specifically, the terminal device 100 refers to points other than the reference point (in other words, other positions) on the path related to movement with reference to the absolute position and orientation of the housing at the reference point. The position (relative position) of the housing in the local coordinate system is converted to the position (absolute position) in the absolute coordinate system. By applying such control, it is possible to constantly receive wireless signals from satellites related to positioning, such as in an environment covered with a shield such as a roof or wall surface (for example, indoor or underground facility). Even in a situation where it is difficult to maintain the state of being, it is possible to estimate the absolute position of the housing.
Therefore, in the following, the technical features of the terminal device 100 according to the present embodiment will be focused on, in particular, the process related to the estimation of the absolute position of the predetermined housing (for example, the housing of the terminal device 100). This will be described in detail.

<Hardware configuration>
An example of the hardware configuration of the terminal device 100 according to the present embodiment will be described with reference to FIG. As shown in FIG. 2, the terminal device 100 according to the present embodiment includes a CPU (Central Processing Unit) 210, a ROM (Read Only Memory) 220, and a RAM (Random Access Memory) 230. Further, the terminal device 100 includes an auxiliary storage device 240, an output device 250, an input device 260, a network I / F 270, and a sensor 280. The CPU 210, ROM 220, RAM 230, auxiliary storage device 240, output device 250, input device 260, network I / F 270, and sensor 280 are connected to each other via a bus 290.

The CPU 210 is a central processing unit that controls various operations of the terminal device 100. For example, the CPU 210 may control the operation of the entire terminal device 100. The ROM 220 stores a control program, a boot program, and the like that can be executed by the CPU 210. The RAM 230 is the main storage memory of the CPU 210, and is used as a work area or a temporary storage area for developing various programs.

The auxiliary storage device 240 stores various data and various programs. The auxiliary storage device 240 is realized by a storage device that can temporarily or continuously store various data such as an HDD (Hard Disk Drive) and a non-volatile memory represented by an SSD (Solid State Drive). ..

The output device 250 is a device that outputs various types of information, and is used for presenting various types of information to the user. In the present embodiment, the output device 250 is realized by a display device such as a display. The output device 250 presents information to the user by displaying various display information. However, as another example, the output device 250 may be realized by an acoustic output device that outputs sounds such as voice and electronic sounds. In this case, the output device 250 presents information to the user by outputting sounds such as voice and telegraph. Further, the device applied as the output device 250 may be appropriately changed depending on the medium used for presenting information to the user. The output device 250 corresponds to an example of an "output unit" used for presenting various types of information.

The input device 260 is used for receiving various instructions from the user. In the present embodiment, the input device 260 includes an input device such as a mouse, a keyboard, and a touch panel. However, as another example, the input device 260 may include a sound collecting device such as a microphone and collect sound spoken by the user. In this case, the collected voice is subjected to various analysis processes such as acoustic analysis and natural language processing, so that the content indicated by the voice is recognized as an instruction from the user. Further, the device applied as the input device 260 may be appropriately changed depending on the method of recognizing the instruction from the user. Further, a plurality of types of devices may be applied as the input device 260.

The network I / F270 is used for communication with an external device via a network. The device applied as the network I / F270 may be appropriately changed according to the type of communication path and the applicable communication method.

The sensor 280 detects various states of the terminal device 100. The terminal device 100 according to the present embodiment can detect changes in the position and orientation of the terminal device 100 itself (in other words, the housing of the terminal device 100) as the sensor 280, such as an acceleration sensor and an angular velocity sensor. Equipped with various sensors. The sensor 280 outputs information according to the detection results of various states to the CPU 210.

The CPU 210 expands the program stored in the ROM 220 or the auxiliary storage device 240 into the RAM 230, and by executing this program, the functional configuration of the terminal device 100 shown in FIG. 8 and the processing shown in the flowchart shown in FIG. 9 Is realized.

<Technical Thought>
With reference to FIGS. 3 to 7, the terminal device 100 according to the present embodiment is an example of a technical idea for realizing the estimation of the absolute position of a predetermined housing whose outline is described with reference to FIG. Will be described below.

First, with reference to FIG. 3, an example of a local coordinate system internally managed by the terminal device 100 will be described. In the following, for convenience, a terminal device 100 that is configured to be portable, such as a so-called smartphone or tablet terminal, is applied, and the terminal device 100 estimates the absolute position of its own housing. ..

As shown in the left figure of FIG. 3, the terminal device 100 includes a flat plate-shaped housing having a substantially rectangular surface having a long direction and a short direction, and has a desired timing (for example, at startup, etc.). ), The local coordinate system is defined based on each direction with respect to the housing. Specifically, in the example shown in FIG. 3, in the terminal device 100, the short direction of the surface is the "X direction", the long direction of the surface is the "Y direction", and the direction perpendicular to the surface is the "Z direction". The local coordinate system is specified.
Further, a screen for displaying various information is provided on one surface in the Z direction. Therefore, of the Z directions, the direction of the surface (also referred to as "front surface") on which the screen is provided is defined as "+ Z direction", and the direction of the surface opposite to the surface (also referred to as "back surface") is ". Also referred to as "-Z direction". Further, in a state where the long direction (Y direction) of the screen substantially coincides with the vertical direction in the real space, and the top-bottom direction of the screen and the top-bottom direction of the vertical direction substantially coincide with each other, the upper side of the vertical direction The direction corresponding to is referred to as "+ Y direction", and the direction corresponding to the lower side is referred to as "-Y direction". Further, in this state, the direction corresponding to the left direction when facing the screen is defined as the “−X direction”, and the direction corresponding to the right direction is defined as the “+ X direction”. That is, it can be said that the coordinate system shown on the left side of FIG. 3 is a coordinate system indicating the position of the housing of the terminal device 100.

Further, the right figure of FIG. 3 defines the rotation direction in the local coordinate system internally managed by the terminal device 100. Specifically, the direction of rotation about the Y direction is also called the "roll direction", the counterclockwise direction when viewed from the + Y direction side is the "positive" direction, and the clockwise direction is the "negative" direction. In the direction of. The direction of rotation about the X direction is also referred to as the "pitch direction", the counterclockwise direction when viewed from the + X direction side is the "positive" direction, and the clockwise direction is the "negative" direction. And. The direction of rotation about the Z direction is also referred to as the "yaw direction", the counterclockwise direction when viewed from the + Z direction side is the "positive" direction, and the clockwise direction is the "negative" direction. And. That is, it can be said that the rotating coordinate system shown in the right figure of FIG. 3 is a coordinate system indicating the posture (in other words, the orientation of the housing) of the housing of the terminal device 100.
In the following description, when the term "local coordinate system" is simply described, it means the local coordinate system managed internally by the terminal device 100 unless otherwise specified. Further, in the following description, the coordinates indicating the position (that is, the relative position) in the local coordinate system are also referred to as "local coordinates", whereas the position in the absolute coordinate system (that is, the absolute position) is indicated. Coordinates are also referred to as "absolute coordinates".

Next, with reference to FIG. 4, an example of a mechanism for the terminal device 100 to be able to estimate the absolute position and posture of its own housing at the reference point will be described. In the present embodiment, the terminal device 100 obtains information regarding the absolute position and orientation of the reference point 190 from the reference point 190 in a state of being close to the reference point 190 installed at a desired position in the real space. Obtain and estimate the absolute position and orientation of your own housing based on the information.

Specifically, the reference point 190 includes a communication device for performing so-called non-contact communication represented by NFC (Near Field Communication). On that basis, the reference point 190 is when the terminal device 100 is close to the surface on which the radio signal is transmitted / received (hereinafter, also referred to as “communication surface”) (in other words, when the housing of the terminal device 100 is close to each other). Information on the absolute position and orientation of the communication surface is transmitted to the terminal device 100 by non-contact communication. Then, the terminal device 100 estimates the absolute position and orientation of its own housing based on the above information transmitted from the reference point 190 by approaching the communication surface of the reference point 190. In the following description, for convenience, the proximity of the terminal device 100 to the communication surface of the reference point 190 is also simply referred to as "proximity of the terminal device 100 to the reference point 190". Further, the absolute position and orientation of the communication surface of the reference point 190 is also simply referred to as "absolute position and orientation of the reference point 190".

If the distance at which non-contact communication is possible is a distance that can be tolerated as an error in estimating the absolute position, the terminal device 100 and the reference point are close to the reference point 190 when the terminal device 100 is close to the reference point 190. It can be considered that the absolute position of 190 is almost the same as that of 190. In other words, in the present disclosure, the proximity of the terminal device 100 and the reference point 190 means that the distance between the terminal device 100 and the reference point 190 is within an acceptable range as an error in estimating the absolute position. It can be said that the distance is within a range in which non-contact communication is possible.

Further, the terminal device 100 is controlled to be transmitted from the reference point 190 to the terminal device 100 based on non-contact communication in a state where the terminal device 100 is relatively close to the reference point 190 in a predetermined posture. May be done. As a result, the terminal device 100 recognizes the absolute posture of the reference point 190 based on the information transmitted from the reference point 190, and based on the result of the recognition, the absolute posture of its own housing. Can be estimated.

As a specific example, in the example shown in FIG. 4, the reference point 190 is such that one of the directions in which the communication surface extends substantially coincides with the vertical direction in real space (in other words, the direction of gravitational acceleration). Is installed. Then, in a state where the −Y direction of the terminal device 100 substantially coincides with the direction of gravitational acceleration and the terminal device 100 and the reference point 190 are in close proximity to each other, the above information is transmitted from the reference point 190 to the terminal device 100. It should be transmitted based on non-contact communication. This makes it possible to associate the posture of the terminal device 100, which is close to the reference point 190, with the absolute posture of the reference point 190.
Regarding a mechanism for controlling the terminal device 100 to be transmitted from the reference point 190 to the terminal device 100 in a state where the terminal device 100 is relatively close to the reference point 190 in a predetermined posture. Will be described later as an example.

Then, with reference to FIGS. 5 and 6, the terminal device 100 approaches the reference point 190, and based on the information acquired from the reference point 190, the terminal device 100 at another position on the path related to the movement. An example of a method of estimating the absolute position of the housing will be described below. In other words, a method of estimating the absolute position of the terminal device 100 at a timing different from the timing when the terminal device 100 is close to the reference point 190 based on the information acquired from the reference point 190. This will be described below.
In the example described with reference to FIGS. 5 and 6, the X-axis, Z-axis, and Y-axis in the local coordinate system are associated with the latitude, longitude, and vertical direction in the absolute coordinate system, respectively. It is assumed that the absolute position of the terminal device 100 is estimated based on the deviation between the local coordinate system and the absolute coordinate system.

First, as shown in FIG. 5A, the terminal device 100 has a local coordinate system (that is, X direction, Y direction, etc.) based on the position and orientation of its own housing at a desired timing (for example, at startup). , And Z direction).
For example, the terminal device 100 can define the local coordinate system based on the direction of the gravitational acceleration by detecting the gravitational acceleration using an acceleration sensor or the like. In this case, the terminal device 100 defines the direction of gravitational acceleration as the −Y direction, and then defines the X direction and the Z direction according to the posture of its own housing on a surface orthogonal to the Y direction. Just do it.
In the example shown in FIG. 5, for the sake of simplicity, the Y direction and the vertical direction (the direction of gravitational acceleration) in the real space coincide with each other at the predetermined timing, and then the terminal device 100 It is assumed that the X direction and the Z direction are defined according to the posture of the housing. Further, in the example shown in FIG. 5A, it is assumed that the X direction and the Z direction in the local coordinate system are deviated from the latitude and longitude in the absolute coordinate system in the roll direction about the Y direction. do.

Next, as shown in FIG. 5B, it is assumed that the terminal device 100 is close to the reference point 190. In this case, the directions according to the posture of the terminal device 100 on the XZ plane are also referred to as "X'direction" and "Z'direction" for convenience.
Specifically, the + X'direction indicates a direction in which the direction corresponding to the + X direction of the housing of the terminal device 100 in the state shown in FIG. 5A is facing in the state shown in FIG. 5B. There is. Similarly, the + Z'direction indicates a direction in which the direction corresponding to the + Z direction of the housing of the terminal device 100 in the state shown in FIG. 5A is facing in the state shown in FIG. 5B. That is, the + Z'direction and the + X'direction are orthogonal to each other on the XZ plane of the local coordinate system (in other words, on the horizontal plane of the absolute coordinate system). In the present disclosure, the horizontal plane in the absolute coordinate system means a plane extending in the latitude direction and the longitude direction.
Further, when the direction perpendicular to the communication surface of the reference point 190 and the direction opposite to the direction in which the terminal device 100 approaches is defined as the "direction of the reference point", the direction opposite to the direction of the reference point. Is substantially the same as the + Z'direction.

Further, on the horizontal plane of the absolute coordinate system (in other words, on the XZ plane of the local coordinate system), the angle between the direction of the reference point and the latitude direction is defined as rBearing. That is, the angle rBearing indicates the posture of the reference point 190 on the horizontal plane of the absolute coordinate system.
Further, as shown in FIG. 5B, the angle of the terminal device 100 close to the reference point 190 according to the amount of rotation (that is, the amount of rotation in the roll direction) on the XZ plane of the local coordinate system is defined as rAngle. do.

Then, in the state shown in FIG. 5B, the terminal device 100 has an absolute position and posture of its own housing based on the information regarding the absolute position and posture of the reference point 190 acquired from the reference point 190. To estimate. Here, with reference to FIG. 6, an example will be described of a method of estimating the absolute position and posture of the housing of the terminal device 100 in the state shown in FIG. 5 (b).

In FIG. 6, the angle A changes between the state shown in FIG. 5 (a) and the state shown in FIG. 5 (b) on the XZ plane of the local coordinate system (in other words, on the horizontal plane of the absolute coordinate system). The angle corresponding to the change in the posture of the housing of the terminal device 100 in the above is shown. In other words, it can be said that the angle A represents a change in the posture of the housing of the terminal device 100 in the roll direction.
In this case, the angle rAngle is represented by the relational expression shown below as (Equation 1) based on the angle A. As described above with reference to FIG. 3, the counterclockwise direction is the positive direction for the roll direction.

Here, reference is made to FIG. 5 again. FIG. 5C shows the absolute position and orientation of the terminal device 100 in a state where the terminal device 100 is close to the reference point 190, and the absolute position and orientation of the terminal device 100 are estimated at other timings. The state in which the target position is estimated is schematically shown.
In FIG. 5 (c), 100-1, 100-2, and 100-3 are other timings i = 0, i = 1, and i = after the timing when the terminal device 100 approaches the reference point 190. The position and posture of the terminal device 100 in No. 2 are schematically shown. Further, the timing i indicates the timing at which the position of the terminal device 100 is measured (estimated) in the local coordinate system (for example, the timing at which the relative position change of the terminal device 100 is detected). In the following description, among the positions on the route related to the movement of the terminal device 100, the position at the timing when the position of the terminal device 100 is measured (estimated) in the local coordinate system is also referred to as a “measurement point”.

Here, it is assumed that the local coordinates of the housing of the terminal device 100 located at the measurement point at the timing i are represented by (xi, yi, zi). Further, the local coordinates of the reference point 190 are represented by (rx, ry, rz), and the absolute coordinates of the reference point 190 are represented by (rLat, rAlt, rLng). Further, the amount of change in latitude and longitude per 1 m around the absolute coordinates of the reference point 190 shall be represented by dLat and dLng, respectively.
Based on the above, when the deviation between the absolute coordinate system and the local coordinate system on the horizontal plane is expressed by an angle θ as shown in FIG. 6, assuming that the Y direction and the vertical direction substantially match. Is expressed by the relational expression shown below as (Equation 2). Further, when the absolute coordinates of the housing of the terminal device 100 located at the measurement point at the timing i are expressed by (Lati, Lngi, Alti), Lati, Lngi, and Alti are expressed in the following (Equation 3) to (Equation 3) to (Equation 3) to (Equation 3). It is represented by the relational expression shown as 5).

As described above, the conversion formulas for converting the local coordinates to the absolute coordinates are derived by using the local coordinates (xi, yi, zi) of the measurement points shown as the above (Equation 3) to (Equation 5) as variables.
That is, when estimating the absolute coordinates of the terminal device 100, the local coordinates (xi, yi, zi) measured (estimated) for each measurement point are input into the conversion formulas shown as (Equation 3) to (Equation 5) above. This makes it possible to derive (estimate) the absolute coordinates (Lati, Lngi, Alti) of the housing of the terminal device 100 at the measurement point.

The reference points are not limited to one, and may be provided at a plurality of reference points. In such a case, the reference point used for deriving the absolute coordinates is determined according to the relationship between the measurement point for which the absolute coordinates are to be derived and each reference point in which the terminal device 100 is close. May be done. As a specific example, of a series of reference points in which the terminal device 100 is close to each other, the proximity is closer to the timing when the terminal device 100 is located at the target measurement point (in other words, the timing when the relative position change is detected). The reference point made may be used to derive the absolute coordinates of the measurement point.

For example, FIG. 7 is an explanatory diagram for explaining a process related to determination of a reference point used for deriving the absolute coordinates of the measurement point. In FIG. 7, Pa11 and Pa12 are reference points close to the terminal device 100 on the movement path of the terminal device 100 (that is, reference points used for estimating the absolute position and posture of the terminal device 100). Is schematically shown. Further, each of Pb11 to Pb15 schematically shows a measurement point on the movement path of the terminal device 100.
Specifically, in the example shown in FIG. 7, after the terminal device 100 is close to the reference point Pa11, the measurement points Pb11, Pb12, and Pb13 are set in chronological order as the terminal device 100 moves. It is set in order. Further, after the measurement point Pb13 is set, the terminal device 100 approaches the reference point Pa12, and then, as the terminal device 100 moves, the measurement points Pb14 and Pb15 move in this order in chronological order. It is set.

Based on the above assumptions, for example, it is assumed that the absolute coordinates of the measurement point Pb11, that is, the absolute position of the terminal device 100 located at the measurement point Pb11 is derived. In this case, the reference point close to the terminal device 100 at a timing closer to the timing at which the measurement point Pb11 is set becomes the reference point Pa11. That is, in deriving the absolute coordinates of the measurement point Pb11, the information regarding the absolute position and orientation of the terminal device 100 estimated at the reference point Pa11 is used.
Further, as another example, it is assumed that the absolute coordinates of the measurement point Pb14, that is, the absolute position of the terminal device 100 located at the measurement point Pb14 is derived. In this case, the reference point close to the terminal device 100 at a timing closer to the timing at which the measurement point Pb14 is set becomes the reference point Pa12. That is, in deriving the absolute coordinates of the measurement point Pb14, the information regarding the absolute position and orientation of the terminal device 100 estimated at the reference point Pa12 is used.

The relationship along the time series between the measurement point for which the absolute coordinates are to be derived and the reference point for which the information is used for deriving the absolute coordinates depends on the timing at which the absolute coordinates are derived. There is no particular limitation as long as it is within the constraints.
As a specific example, when the absolute coordinates are derived for some measurement points after the information is acquired for a series of measurement points, it is after the timing when the measurement points are set. Information on reference points close to the terminal device 100 at other timings may be used.
On the other hand, when the absolute coordinates of the measurement point are derived in real time according to the setting of the measurement point, the terminal device 100 is close to the reference point at another timing immediately before the timing at which the measurement point is set. Information may be used.

The examples described with reference to FIGS. 4 to 7 are merely examples, and do not necessarily limit the content of the process related to the estimation of the absolute position of the predetermined housing in the present embodiment. That is, based on the absolute position and orientation of the housing of the terminal device 100 at the reference point and the relative position of the housing at each measurement point, the absolute position of the housing at the measurement point is determined. As long as it does not deviate from the idea of estimation, a part of the processing related to the estimation may be changed as appropriate.

For example, the method is not particularly limited as long as it is possible to estimate the absolute position and orientation of the housing of the terminal device 100 at the reference point.
As a specific example, when the terminal device 100 can receive a radio signal related to positioning transmitted from a satellite at a reference point, the absolute terminal device 100 at the reference point is based on a technology such as GNSS. Position and orientation may be estimated. In this case, the position in the real space where the radio signal related to the positioning transmitted from the satellite can be received is set as the reference point.
Further, as another example, by imaging the terminal device 100 located at the reference point from different directions by a plurality of imaging devices, the terminal device 100 is absolutely based on the image according to the result of the imaging. Position and orientation estimates may be made. In this case, the position in the real space imaged by the plurality of imaging devices is set as the reference point.

Further, the method is not particularly limited as long as it is possible to estimate the relative position of the terminal device 100 at each measurement point (that is, the position in the local coordinate system).
As a specific example, as described above, the feature points of the subject are extracted from the images sequentially acquired according to the image pickup result by the image pickup unit supported by the housing of the terminal device 100, and the subject is the subject based on the feature points. The change in the relative position of the housing may be calculated with reference to.
Further, as another example, an acceleration sensor, an angular velocity sensor, or the like is used to detect the acceleration or the angular velocity acting on the housing of the terminal device 100, and the relative position of the housing is changed based on the detection result. May be detected.

Further, in the above, the case where the absolute position of the housing of the terminal device 100 is estimated three-dimensionally has been described. On the other hand, it is also possible to estimate the absolute position of the housing of the terminal device 100 two-dimensionally without considering the position in the vertical direction. In this case, in the conversion formulas shown as (Equation 3) to (Equation 5), 0 may be substituted for the vertical components rAlt, ry, and yi, and then the calculation may be performed.

<Functional configuration>
An example of the functional configuration of the terminal device 100 according to the present embodiment will be described with reference to FIG. 8, paying particular attention to the process related to the estimation of the absolute position of the predetermined housing. In the example shown in FIG. 8, as described with reference to FIGS. 4 to 7, the terminal device 100 approaches the reference point 190 and is based on the information acquired from the reference point 190. It shall estimate its own absolute position and attitude when approaching 190.
The terminal device 100 includes a communication unit 101, a detection unit 102, a posture evaluation unit 103, and an estimation unit 104. Further, the terminal device 100 may include a storage unit 150.

The communication unit 101 detects the proximity of the reference point 190 and establishes non-contact communication with the reference point 190 to acquire various information from the reference point 190 via the non-contact communication. As a specific example, the communication unit 101 may acquire information regarding the absolute position and orientation of the reference point 190 from the reference point 190 that has established non-contact communication. The communication device applied as the communication unit 101 may be appropriately changed according to the communication method applied to the non-contact communication with the reference point 190.
Further, the communication unit 101 may acquire information from the reference point 190 that has detected the proximity via non-contact communication in response to an instruction from the attitude evaluation unit 103, which will be described later. As a result, for example, the communication unit 101 acquires information from the reference point 190 based on non-contact communication in a state where the housing of the terminal device 100 is relatively close to the reference point 190 in a predetermined posture. It becomes possible to control.
Then, the communication unit 101 outputs the information acquired from the reference point 190 to the estimation unit 104, which will be described later.
The communication unit 101 corresponds to an example of the "first acquisition means". That is, the information regarding the absolute position and posture of the reference point 190 acquired from the reference point 190 by the communication unit 101 corresponds to an example of the "first information".

The detection unit 102 detects a change in the relative position of the housing of the terminal device 100. Further, the detection unit 102 may detect a change in the relative posture of the housing of the terminal device 100.
As a specific example, the detection unit 102 recognizes the subject by extracting the feature points of the object and the background imaged as the subject in the captured image, and changes the relative position of the housing with respect to the subject. May be calculated. Further, at this time, the detection unit 102 may calculate the relative change in the posture of the housing with the subject as a reference. In this case, the detection unit 102 may be realized by an imaging device such as a so-called digital camera.
Further, as another example, the detection unit 102 may detect the acceleration acting on the housing of the terminal device 100 and calculate the relative position change of the housing based on the detection result. Further, at this time, the detection unit 102 may detect the angular velocity acting on the housing of the terminal device 100 and calculate the relative posture change of the housing based on the detection result. In this case, the detection unit 102 may be realized by various sensors such as an acceleration sensor and an angular velocity sensor.
Of course, the above is only an example, and the method is not particularly limited as long as it is possible to detect a change in the relative position or posture of the housing of the terminal device 100, and the detection unit 102 depending on the method. The device for realizing the above may be changed as appropriate.
Then, the detection unit 102 sequentially outputs information according to the detection result of at least the change in the relative position of the housing of the terminal device 100 to the estimation unit 104, which will be described later. Further, at this time, the detection unit 102 may output the detection result of the relative posture change of the housing of the terminal device 100 to the estimation unit 104.
The detection unit 102 corresponds to an example of the "second acquisition means". That is, the information according to the detection result of the change in the relative position of the housing of the terminal device 100 by the detection unit 102 corresponds to an example of the "second information".

The posture evaluation unit 103 evaluates whether or not the posture of the housing of the terminal device 100 is a predetermined posture, and gives a predetermined notification to the communication unit 101 according to the result of the evaluation. As a specific example, when the communication unit 101 detects the proximity of the reference point 190, the posture evaluation unit 103 determines whether or not the housing of the terminal device 100 is in a predetermined posture relative to the reference point 190. May be evaluated. In this case, when the posture evaluation unit 103 evaluates that the housing of the terminal device 100 is in a predetermined posture relative to the reference point 190, the posture evaluation unit 103 refers to the communication unit 101 from the reference point 190. You may instruct the acquisition of information.

The method is not particularly limited as long as the posture evaluation unit 103 can evaluate whether or not the housing of the terminal device 100 is in a predetermined posture relative to the reference point 190.
As a specific example, the attitude evaluation unit 103 detects the gravitational acceleration acting on the housing of the terminal device 100, and the direction of the gravitational acceleration substantially coincides with a predetermined relative direction (for example, the Y direction) with respect to the housing. In this case, it may be evaluated that the housing is in a predetermined posture relative to the reference point 190.

Further, as another example, the posture evaluation unit 103 uses the detection result of the proximity of the reference point 190 to the housing by the proximity sensor (not shown) supported by the housing of the terminal device 100. It may be evaluated that the housing is in a predetermined posture relative to the reference point 190. In this case, for example, when the proximity sensor detects the proximity of the reference point 190, the proximity sensor can establish non-contact communication with the reference point 190. It is preferable that the antenna for the communication unit 101 to perform non-contact communication is supported by the housing of the terminal device 100.

Further, the posture evaluation unit 103 monitors the detection result of the movement of the housing by the acceleration sensor (not shown) supported by the housing of the terminal device 100, and the variation of the detection result is within a predetermined range. In this case, the communication unit 101 may be instructed to acquire information from the reference point 190. By applying such control, the housing of the terminal device 100 is stationary in a predetermined posture relative to the reference point 190 (that is, the housing is maintained in the posture). It is possible to control so that the absolute position and attitude of the device are estimated.

Further, the control is not limited to the control on the terminal device 100 side, but as a configuration (for example, a structural feature) on the reference point 190 side, the terminal device 100 is in a predetermined posture relative to the reference point 190. A mechanism for proximity may be provided.

As a specific example, a support member may be provided on the reference point 190 side to support the housing of the terminal device 100 close to the reference point 190 so as to be in a predetermined posture. With such a configuration, it is possible to limit the posture of the terminal device 100 close to the reference point 190 so as to satisfy a predetermined condition.

Further, as another example, the reference points 190 are arranged side by side along a predetermined direction as a communication surface for performing non-contact communication (in other words, a surface for detecting the proximity of the housing of the terminal device 100). It may be configured to include a plurality of communication surfaces. Then, the posture evaluation unit 103 sequentially approaches the plurality of communication surfaces of the reference point 190 within a predetermined period, and based on the information sequentially acquired from the reference point 190, the posture evaluation unit 103 of the terminal device 100. The posture of the housing may be evaluated. With such a configuration, when the terminal device 100 is brought close to the reference point 190, the terminal device 100 is slid along a predetermined direction. Therefore, the terminal device close to the reference point 190 is provided. It is possible to limit the posture of 100 so as to satisfy a predetermined condition.

If, as described above, the configuration on the reference point 190 side provides a mechanism for the terminal device 100 to approach the reference point 190 in a relatively predetermined posture, the terminal device 100 may approach the reference point 190 in a relatively predetermined posture. The posture evaluation unit 103 does not necessarily have to be provided. Of course, it is also possible to use the mechanism based on the configuration on the reference point 190 side described above and the evaluation by the posture evaluation unit 103 in combination.

The estimation unit 104 sequentially acquires information from the detection unit 102 according to the detection result of at least a change in the relative position of the housing of the terminal device 100. The estimation unit 104 monitors the relative position change of the housing of the terminal device 100 in chronological order based on the information sequentially output from the detection unit 102, so that the position of the housing in the local coordinate system To estimate.
Further, the estimation unit 104 stores information according to the estimation result of the position of the housing in the local coordinate system for each detection timing (in other words, for each measurement point) by the detection unit 102 in a predetermined storage area (for example, for example). It may be managed by storing it in the unit 150).

Further, the estimation unit 104 is based on the information acquired from the reference point 190 when the communication unit 101 detects the proximity of the reference point 190, and the estimation unit 104 makes an absolute housing of the terminal device 100 close to the reference point 190. Estimate the position and posture. Then, the estimation unit 104 utilizes the estimation result of the absolute position and posture of the housing, and the relative position (local coordinate system) of the housing at each measurement point according to the detection result by the detection unit 102. (Position in) is converted to an absolute position (position in the absolute coordinate system). Since the same process has been described with reference to FIGS. 4 to 7, detailed description thereof will be omitted.
Further, the estimation unit 104 stores information according to the estimation result of the absolute position and orientation of the housing of the terminal device 100 based on the information acquired from the reference point 190 in a predetermined storage area (for example, the storage unit 150). It may be managed by storing it in. Similarly, the estimation unit 104 may manage the information regarding the absolute position of the housing of the terminal device 100 derived for each measurement point by storing it in a predetermined storage area (for example, the storage unit 150). ..

The storage unit 150 is a storage area for storing data and programs for each unit in the terminal device 100 to execute processing. Further, the storage unit 150 may store information and data generated by each unit in the terminal device 100.
The storage unit 150 may be realized by, for example, a storage device built in the terminal device 100. Further, as another example, the storage unit 150 may be realized by an external storage device different from the terminal device 100. Specifically, the storage unit 150 may be realized by a storage device externally attached to the terminal device 100, or may be realized by a storage device connected to the terminal device 100 via a network.

The configuration shown in FIG. 8 is merely an example, and does not limit the configuration of the device for realizing the technical features according to the present embodiment. For example, at least a part of the functions of the terminal device 100 may be realized by the cooperation of a plurality of devices.
As a specific example, some functions of the terminal device 100 may be realized by another device different from the terminal device 100. As a more specific example, the communication unit 101, the detection unit 102, the posture evaluation unit 103, and the estimation unit 104 may be provided in different devices. In this case, it is preferable that at least the communication unit 101 and the detection unit 102 are provided on the device side where the position and orientation of the housing are estimated. Further, the device provided with the estimation unit 104 corresponds to an example of the "information processing device" in the present embodiment.
Further, as another example, the processing load related to the realization of at least a part of the functions of the terminal device may be distributed to a plurality of devices. As a more specific example, the processing load of the estimation unit 104 may be distributed to a plurality of devices.

Further, depending on the method of estimating the absolute position and posture of the predetermined housing (for example, the housing of the terminal device 100) at the reference point and the method of detecting the change in the relative position of the predetermined housing at the measurement point. Therefore, at least a part of the series of functions of the terminal device 100 may be changed.
As a specific example, when the absolute position and attitude of the terminal device 100 at the reference point are estimated based on the technology such as GNSS, the radio signal transmitted from the satellite is used instead of the communication unit 101. A component for receiving may be provided. In this case, any position can be a reference point as long as the radio signal from the satellite can be received. Therefore, the reference point does not necessarily have to be fixedly set.
Further, depending on the method of detecting a change in the relative position of a predetermined housing, another component may be provided instead of the detection unit 102.

<Processing>
An example of the processing of the terminal device 100 according to the present embodiment will be described with reference to FIG. 9, paying particular attention to the processing related to the estimation of the absolute position of the predetermined housing. In the example shown in FIG. 9, as described with reference to FIGS. 4 to 7, the terminal device 100 approaches the reference point 190 and is based on the information acquired from the reference point 190. It shall estimate its own absolute position and attitude when approaching 190.

In S101, the terminal device 100 determines whether or not the proximity to the reference point 190 is detected. When the terminal device 100 determines that the proximity to the reference point 190 is detected in S101, the terminal device 100 proceeds to the process in S102.
In S102, the terminal device 100 acquires information on the absolute position and orientation of the reference point 190 from the adjacent reference point 190, and estimates the absolute position and orientation of its own housing based on the information. .. Since the processing related to the estimation has been described with reference to FIGS. 4 to 6, detailed description thereof will be omitted.
On the other hand, when the terminal device 100 determines in S101 that the proximity to the reference point 190 is not detected, the terminal device 100 proceeds to the process in S103. In this case, the process of S102 will not be executed.

In S103, the terminal device 100 detects a change in the relative position of its own housing and monitors the detection result in chronological order to estimate the position of the housing in the local coordinate system. .. This makes it possible to estimate the position of the housing of the terminal device 100 in the local coordinate system for each detection timing (in other words, for each measurement point).

In S104, the terminal device 100 determines whether or not the information regarding the absolute position and orientation of the reference point 190 has been acquired from the reference point 190. When the terminal device 100 determines in S104 that the information regarding the absolute position and orientation of the reference point 190 has been acquired from the reference point 190, the terminal device 100 proceeds to the process in S105. If the information has already been acquired from the reference point 190, the absolute position and orientation of the housing of the terminal device 100 can be estimated at the timing when the terminal device 100 approaches the reference point 190 in S102. It will be done.
In S105, the terminal device 100 determines the position of the housing in the local coordinate system estimated for the measurement point in S103 based on the estimation result of the absolute position and posture of the housing estimated in S102. Convert to the position in. This makes it possible to estimate the absolute position of the housing of the terminal device 100 at each measurement point.

On the other hand, when the terminal device 100 determines in S104 that the information regarding the absolute position and orientation of the reference point 190 has not been acquired from the reference point 190, the terminal device 100 ends the series of processes shown in FIG.

The terminal device 100 executes a series of processes shown in FIG. 9 at a desired opportunity. As a specific example, the terminal device 100 may periodically execute a series of processes shown in FIG. 9 at predetermined timings. Further, as another example, the terminal device 100 may execute a series of processes shown in FIG. 9 based on a predetermined trigger.

<Application example>
An application example of the technique according to the present embodiment will be described with reference to FIG. In the example shown in FIG. 10, a case where the smartphone held by the user is the terminal device 100 according to the present embodiment and the positioning of the smartphone is performed will be described.

The start point P0 shown in FIG. 10 schematically shows the position of the terminal device 100 at the timing when the positioning of the terminal device 100 (smartphone) is started. As a specific example, when an application for realizing positioning of the terminal device 100 installed in the terminal device 100 is started by a user, the terminal device 100 determines the position of its own housing at the timing of starting the application. It is set as the starting point P0.

Next, the user starts the movement while holding the terminal device 100, and brings the terminal device 100 closer to each of the reference points Pa21, Pa22, and Pa23 arranged on the path during the movement in this order. It shall be.
Further, each of Pb21 to Pb25 indicates a measurement point. Specifically, the relative position of the terminal device 100 is estimated at least once on the route between the user holding the terminal device 100 and moving from the start point P0 to the reference point Pa21, and the estimation is performed. The measurement point Pb21 is set in association with the timing at which the above is performed. Similarly, measurement points Pb22, Pb23, and Pb24 are set on the path between the reference point Pa21 and the reference point Pa22. Further, the measurement point is not set on the path between the reference point Pa22 and the reference point Pa23, and the measurement point Pb25 is set on the path after the reference point Pa23.

Based on the above assumptions, when the terminal device 100 estimates the absolute position of its own housing at each measurement point, whether the estimation is performed in real time or after the estimation is performed. The reference point to which the information is applied to the estimation is determined accordingly.

Specifically, when the terminal device 100 estimates the absolute position of its own housing at each measurement point in real time, the terminal device 100 targets a reference point that is a source of information used for the estimation. The measurement point is limited to the reference point where the proximity was performed in the past than the set timing.
In this case, for example, when the terminal device 100 estimates the absolute position of its own housing at the measurement point Pb24, the terminal device 100 is closer than the timing at which the measurement point Pb24 is set. Only the reference point Pa21 is used as a candidate for the acquisition source of the information used for the estimation. Then, among the reference points set as candidates, the terminal device 100 obtains the information acquired from the reference point at which the measurement point Pb24 is approached at a timing closer to the set timing, and obtains the information acquired from the reference point at the measurement point Pb24. It is used to estimate the absolute position of the housing. That is, in this case, the information acquired from the reference point Pa21 is used to estimate the absolute position of the housing of the terminal device 100.

On the other hand, when the terminal device 100 ex post facto estimates the absolute position of its own housing at each measurement point, the terminal device 100 limits the reference point that is the acquisition source of the information used for the estimation. Instead, a series of reference points where proximity is performed are used as candidates.
In this case, for example, even when the terminal device 100 estimates the absolute position of its own housing at the measurement point Pb24, the reference points Pa21, Pa22, and Pa23 in which proximity is performed are used for the estimation. Candidates for acquisition of information to be used. Then, among the reference points set as candidates, the terminal device 100 obtains the information acquired from the reference point at which the measurement point Pb24 is approached at a timing closer to the set timing, and obtains the information acquired from the reference point at the measurement point Pb24. It is used to estimate the absolute position of the housing. That is, in this case, the information acquired from the reference point Pa22 is used to estimate the absolute position of the housing of the terminal device 100.

It should be noted that, at the timing when the absolute position of the housing of the terminal device 100 is estimated, it is possible to assume a situation in which the vicinity is not performed with respect to any of the reference points. In such a case, the terminal device 100 may decide that positioning is not possible and end the process related to the estimation.

<Conclusion>
As described above, the information processing device (for example, the terminal device 100) according to the present embodiment includes a first acquisition means, a second acquisition means, and an estimation means. The first acquisition means acquires the first information regarding the absolute position and orientation of the predetermined housing (for example, the housing of the terminal device 100) in the real space. The second acquisition means sequentially acquires the second information according to the change in the relative position of the housing in chronological order. The estimation means is based on the absolute position and orientation of the housing according to the first information, and at the timing when the relative position change of the housing indicated by the second information is detected. Estimate the absolute position of the housing in real space.
With the above configuration, according to the information processing device according to the present embodiment, from a satellite related to positioning, such as an environment covered with a shield such as a roof or a wall surface (for example, indoor or underground facility). It is possible to estimate the absolute position of the housing even in a situation where it is difficult to maintain a state in which the radio signal of the above can be constantly received.

100 Terminal device 101 Communication unit 102 Detection unit 103 Posture evaluation unit 104 Estimating unit 150 Storage unit

Claims (11)

A first acquisition means for acquiring the first information regarding the absolute position and orientation of a predetermined housing in the real space, and
A second acquisition means for sequentially acquiring the second information according to the change in the relative position of the housing in chronological order, and
With reference to the absolute position and orientation of the housing according to the first information, the housing at the timing when a change in the relative position of the housing indicated by the second information is detected. An estimation means for estimating the absolute position in real space,
Information processing device. The first information is information on the absolute position and orientation of the reference point in the real space, which is acquired from the reference point when the housing is close to the reference point installed in the real space. The information processing apparatus according to claim 1, which is calculated based on the above. The information processing according to claim 2, wherein the information regarding the absolute position and orientation of the reference point in the real space is acquired from the reference point based on the non-contact communication between the housing and the reference point. Device. The reference point is arranged so that the surface for detecting the proximity of the housing extends along the vertical direction.
The first information is acquired in a state where the relative posture of the housing with respect to the reference point satisfies a predetermined condition.
The information processing device according to claim 2 or 3. The first acquisition means evaluates whether or not the posture of the housing close to the reference point satisfies the predetermined condition, and acquires the first information according to the result of the evaluation. The information processing apparatus according to claim 4. The first acquisition means determines whether the posture of the housing close to the reference point satisfies the predetermined condition based on the result of the detection by the detection means for detecting the proximity of the housing to the surface. The information processing apparatus according to claim 5, which evaluates whether or not the information processing apparatus is used. A plurality of the surfaces for detecting the proximity of the housing are arranged side by side at the reference point.
In the first acquisition means, the posture of the housing close to the reference point is determined based on the information acquired by the housing approaching each of the plurality of surfaces within a predetermined period. Evaluate whether or not the above-mentioned predetermined conditions are satisfied.
The information processing device according to claim 5. The first acquisition means acquires the first information when the variation in the relative posture change of the housing close to the reference point by the predetermined detection means is within a predetermined range. The information processing apparatus according to any one of claims 4 to 7. The estimation means determines the absolute position of the housing in the real space at the timing when the relative position change of the housing indicated by the second information is detected, with the second information. The information processing apparatus according to any one of claims 1 to 8, which is estimated based on the first information acquired at a timing closer to the timing. It is an information processing method executed by an information processing device.
The first acquisition step of acquiring the first information regarding the absolute position and orientation of the predetermined housing in the real space, and
The second acquisition step of sequentially acquiring the second information according to the change in the relative position of the housing in chronological order,
With reference to the absolute position and orientation of the housing according to the first information, the housing at the timing when a change in the relative position of the housing indicated by the second information is detected. An estimation step that estimates the absolute position in real space,
Information processing methods, including. On the computer
The first acquisition step of acquiring the first information regarding the absolute position and orientation of the predetermined housing in the real space, and
The second acquisition step of sequentially acquiring the second information according to the change in the relative position of the housing in chronological order,
With reference to the absolute position and orientation of the housing according to the first information, the housing at the timing when a change in the relative position of the housing indicated by the second information is detected. An estimation step that estimates the absolute position in real space,
A program that runs.

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