JP4761307B2 - Mobile terminal, camera and program for detecting own position - Google Patents

Description

  The present invention relates to a mobile terminal, a camera, and a program for detecting its own position. In particular, the present invention relates to a mobile terminal possessed by an individual that detects the position of the individual.

  Conventionally, in order to realize a ubiquitous environment in a public space, it is necessary to provide a management device for managing the position of the mobile terminal in the environment side system. The location information of the mobile terminal is sequentially collected by the management device. The management device can transmit various types of information to the mobile terminal according to the location information. For a relatively wide environment in which moving objects are dispersed, position information can be expressed in a global coordinate system such as GPS (Global Positioning System). In addition, for a relatively narrow environment in which moving bodies are dense, position information can also be expressed by a three-point survey method such as PHS (Personal Handyphone System). However, when PHS is used, there is a problem in that radio waves are frequently transmitted from the mobile terminal to the base station, and the accumulated power increases.

  Technology for detecting the position of a moving object in a relatively narrow environment where the moving object is dense, for example, using an acceleration sensor mounted on a moving object held by a human and a camera that captures the entire environment including the moving object (See, for example, Patent Document 1). According to this technique, the accumulated power does not increase as in PHS. A management apparatus is provided in the environment side system, and the management apparatus collects the movement amount detected by the acceleration sensor of the mobile terminal from the mobile terminal. Then, the management device collates the movement amount received from the mobile terminal with the image information of the position of the person taken by the camera. Thereby, a moving body corresponding to the amount of movement is detected from the image information, and a certain human movement is specified.

JP 2004-096501 A

  However, according to the prior art, the movement of a person is specified by the environment side system, and the user is monitored by the public space without knowing it. This is not preferable from the viewpoint of ensuring privacy.

  In addition, the mobile terminal needs to transmit its own data and receive location information in accordance with the environment side system according to the location of the destination. This cannot ensure the versatility of position detection in public space. In addition, according to the technique described in Patent Document 1, in order to perform collation based on the amount of movement, initial alignment is required between the mobile terminal and the environment side system.

  Therefore, the present invention provides a mobile terminal, a camera, and a program capable of detecting the position of the mobile object without specifying the position of the mobile object by the environment system and without depending on the environment system. For the purpose.

According to the present invention, a mobile terminal that detects its own position,
A two-dimensional map that has been extracted from the image information obtained by photographing an environment including a movable body which owns the mobile terminal, 2-dimensional, including a mobile unit identifier assigned arbitrarily to the mobile, the position coordinates of the moving object Two-dimensional map receiving means for receiving a map;
Deriving a movement vector that connects the position coordinates of each moving object in time series, and for each time interval , the movement vector after the previous movement vector moves "moving" or "stopping" for multiple moving objects A trajectory extracting means for deriving at most one subsequent movement vector as a singular vector in which the subsequent movement vector with respect to the previous movement vector has different movements of “stop” or “movement” ;
Sensor means for outputting acceleration data of the mobile terminal;
From the acceleration data, in each time section, and behavior detecting means for detecting the behavior information of the mobile terminal "move" or "stop",
For the same time interval, based on the behavior information and "move" or "stop", is based on singular vectors in a case where the "move" or "stop" coincide, the position of the mobile terminal position of the moving body of singular vectors It is characterized by having the collation means which determines that it is.

According to another embodiment of the mobile terminal of the present invention,
The two-dimensional map further includes a stationary body identifier arbitrarily given to the stationary body and position coordinates of the stationary body,
It is also preferable to further include position detection means for detecting the relative position of the position coordinates of the mobile terminal determined by the matching means with respect to the position coordinates of the stationary body.

According to another embodiment of the mobile terminal of the present invention,
The sensor means further outputs geomagnetic data,
The behavior detecting unit further detects a "rotation" or "non-rotation" geomagnetic data per time interval,
The collating means, for the same time section, the behavior information “curve”, “straight” or “stop” based on “movement” or “stop” and “rotation” or “non-rotation”, and the singular vector change “curve” “ It is also preferable to determine that the position of the moving body of the singular vector is the position of the mobile terminal when “straight ahead” or “stop” matches .

According to the present invention, there is provided a camera having a photographing means for photographing a moving body carrying the above-described mobile terminal,
A two-dimensional map creating means for creating a two-dimensional map including a moving body identifier arbitrarily given to the moving body and the position coordinates of the moving body from the captured image information;
And a two-dimensional map transmission means for transmitting the two-dimensional map to the mobile terminal via a wireless link.

A program that allows a computer installed in a mobile terminal that detects its own position to function,
A two-dimensional map that has been extracted from the image information obtained by photographing an environment including a movable body which owns the mobile terminal, 2-dimensional, including a mobile unit identifier assigned arbitrarily to the mobile, the position coordinates of the moving object Two-dimensional map receiving means for receiving a map;
Deriving a movement vector that connects the position coordinates of each moving object in time series, and for each time interval , the movement vector after the previous movement vector moves "moving" or "stopping" for multiple moving objects A trajectory extracting means for deriving at most one subsequent movement vector as a singular vector in which the subsequent movement vector with respect to the previous movement vector has different movements of “stop” or “movement” ;
Sensor means for outputting acceleration data of the mobile terminal;
From the acceleration data, in each time section, and behavior detecting means for detecting the behavior information of the mobile terminal "move" or "stop",
For the same time interval, based on the behavior information and "move" or "stop", is based on singular vectors in a case where the "move" or "stop" coincide, the position of the mobile terminal position of the moving body of singular vectors It is characterized by making a computer function as a collation means to determine that it is.

According to another embodiment of the program of the present invention,
The two-dimensional map further includes a stationary body identifier arbitrarily given to the stationary body and position coordinates of the stationary body,
It is also preferable to further cause the computer to function as position detecting means for detecting the relative position of the position coordinates of the mobile terminal determined by the matching means with respect to the position coordinates of the stationary body.

According to another embodiment of the program of the present invention,
The sensor means further outputs geomagnetic data,
The behavior detecting unit further detects a "rotation" or "non-rotation" geomagnetic data per time interval,
The collating means, for the same time section, the behavior information “curve”, “straight” or “stop” based on “movement” or “stop” and “rotation” or “non-rotation”, and the singular vector change “curve” “ It is also preferable to cause the computer to function so as to determine that the position of the moving body of the singular vector is the position of the mobile terminal when “straight” or “stop” matches .

According to the present invention, there is provided a camera program for causing a computer mounted on a camera having a photographing unit for photographing a moving body possessing the above-described mobile terminal,
A two-dimensional map creating means for creating a two-dimensional map including a moving body identifier arbitrarily given to the moving body and the position coordinates of the moving body from the captured image information;
The computer is caused to function as a two-dimensional map transmission means for transmitting a two-dimensional map to a mobile terminal via a wireless link.

  According to the mobile terminal, the camera, and the program of the present invention, the position of the moving object is not specified by the environment side system (ensure privacy) and does not depend on the environment side system (ensure versatility). The mobile terminal can detect its own position.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a functional configuration diagram of a mobile terminal and a camera according to the present invention.

  According to the system of FIG. 1, it has a user (mobile body) that possesses the mobile terminal 1 and a camera 2 that captures the entire environment including the user. The movement of the user coincides with the movement of the mobile terminal 1. The mobile terminal 1 in the present invention receives a two-dimensional map from the camera 2 via a wireless link, and specifies its own position.

  The camera 2 includes a photographing unit 201, a two-dimensional map creation unit 202, and a two-dimensional map transmission unit 203. These functional units can also be realized by executing a program that causes a computer mounted on the camera to function. In addition, you may provide the environment side management apparatus which is connected to the said camera and produces a two-dimensional map separately from a camera.

  The photographing unit 201 photographs a user who owns the mobile terminal 1.

The two-dimensional map creating unit 202 creates a two-dimensional map from image information obtained by capturing an environment including a user who owns the mobile terminal 1. The two-dimensional map includes a mobile object ID (IDentifier: identifier) arbitrarily given to the mobile object and the position coordinates of the mobile object viewed from the camera. Table 1 below is an example of a two-dimensional map.

  The two-dimensional map creation unit 202 extracts, for each camera, a difference between an image (background image) when no moving object exists and an image (captured image) when a moving object exists. The difference represents an area occupied for each moving object. An arbitrary and unique mobile object ID is given to each mobile object. Further, for each moving object, position coordinates (xy coordinates) at the center (center of gravity) of the area are extracted. Here, the position coordinates may be position coordinates viewed from the camera, or may be position coordinates based on a coordinate system predetermined by a plurality of cameras.

In addition, as shown in Table 2 below, it is also preferable to include the shooting time and the moving object type.

  The photographing time is used when a singular vector described later is derived. The moving object type represents the moving object (0) or the stationary object (1), and is used when detecting the relative position of the moving object with respect to the stationary object.

  The camera is a CCD camera, for example, and outputs digital image data. In that case, since the image data is output in a very short time section (for example, 30 images / second), even a sudden movement of the moving body can be detected with a short movement interval. Accordingly, the position coordinates of the same mobile object ID are output as time series data.

  The two-dimensional map transmission unit 203 transmits the two-dimensional map to the mobile terminal 1 via a wireless link. When the two-dimensional map is transmitted in real time or in a predetermined time interval, it is not necessary to include the shooting time in the two-dimensional map. This is because the mobile terminal 1 can know the time.

  According to FIG. 1, the mobile terminal 1 includes a two-dimensional map receiving unit 101, a trajectory extracting unit 102, a sensor unit 103, a behavior detecting unit 104, a terminal event detecting unit 105, a collating unit 106, and a position detecting unit. Part 107. These functional units can also be realized by executing a program that causes a computer mounted on the mobile terminal 1 to function.

  The two-dimensional map receiving unit 101 receives and records a two-dimensional map from the camera 2 via a wireless link. Here, only the two-dimensional map in which the position coordinates of the moving object are updated is notified to the trajectory extraction unit 102.

  The trajectory extraction unit 102 derives a movement vector from the time-series change of the position coordinates for each moving object, and derives a singular vector that has a different motion from other movement vectors for each time interval.

  The sensor unit 103 is an acceleration sensor that outputs acceleration data of the mobile terminal 1. The sensor unit 103 may further include a geomagnetic sensor that outputs geomagnetic data of the mobile terminal 1.

  The behavior detection unit 104 detects behavior information of the mobile terminal 1 for each time interval from the acceleration data. As the behavior information, “movement” or “stop” is detected from the acceleration data, and “rotation” or “non-rotation” is detected from the geomagnetic data.

  The terminal event detection unit 105 detects the operation state of the user with respect to the mobile terminal 1 and notifies the behavior detection unit 104 of the state. The user operation state includes, for example, an open / close switch state with respect to the folding cellular phone, a network use state, and the like.

  The collation unit 106 determines that the position of the moving body of the singular vector is the position of the mobile terminal when the behavior information and the change of the singular vector match for the same time interval.

  The position detection unit 107 detects the relative position of the position coordinates of the mobile terminal determined by the matching unit 106 with respect to the position coordinates of the stationary body. The position coordinates of the stationary body may be information included in the two-dimensional map, or may be stored in advance by the mobile terminal 1. Therefore, the position coordinates of the stationary body are not necessarily received from the camera 2.

  FIG. 2 is a sequence diagram of each functional unit of the mobile terminal according to the present invention. Below, with reference to FIG.1 and FIG.2, operation | movement of each function part is demonstrated.

(S201) The two-dimensional map receiving unit 101 receives and records a two-dimensional map from the camera 2 or the management device via a wireless link.

(S202) The two-dimensional map receiving unit 101 notifies the trajectory extracting unit 102 of only the two-dimensional map in which the position coordinates of the moving object are updated.

(S203) The trajectory extraction unit 102 receives the updated two-dimensional map from the two-dimensional map reception unit 101. The trajectory extraction unit 102 plots the movement of the moving object on the coordinates by developing the two-dimensional map on the coordinates in time series.

  FIG. 3 is a coordinate diagram in which the position of the moving object is developed by the trajectory extraction unit.

  According to FIG. 3, the locus of movement of the moving bodies # 1 to # 3 is represented on the xy coordinates. Here, the plots connected by dotted lines represent the same time interval. By connecting plots for each moving object, the movement vector can be derived.

(S204) The trajectory extraction unit 102 finds “singular vectors” in the same time interval from a plurality of movement vectors.

  FIG. 4 is a coordinate diagram of a singular vector discovered by the trajectory extraction unit.

  The portions surrounded by dotted lines are the same time interval. A plurality of movement vectors are compared in the same time interval. According to FIG. 4, only the moving body # 2 can detect that the direction of the moving vector is different compared to the other moving bodies # 1 and # 3. In this way, only a single movement vector that moves differently from the other moving bodies among the plurality of moving bodies is extracted as a “singular vector”.

(S205) The trajectory extraction unit 102 derives, for example, the following four “motion types” for the singular vectors.
(1) Straight ahead:
The current plot is moved in the same direction as the movement vector of the previous plot.
(2) Stop:
The current plot is in the same direction and at the same position as the movement vector of the previous plot.
(3) Curve:
There is a current plot that is moved in a direction different from the movement vector of the previous plot.
(4) Turn:
The current plot is in the same direction and in the same direction as the movement vector of the previous plot

(S206) The trajectory extraction unit 102 notifies the collation unit 106 of a “motion event” of a singular vector. For example, as shown in Table 3, the “motion event” includes a “time interval” in which a singular vector is detected, a “moving body ID”, a “positional coordinate”, and a “motion type” of the singular vector.

(S207) The collation unit 106 receives and records the “motion event” from the trajectory extraction unit 102.

(S208) The sensor unit 103 detects acceleration data and / or geomagnetic data of the mobile terminal 1, and notifies the behavior detection unit 104 of them.

(S209) The behavior detection unit 104 receives acceleration data and / or geomagnetic data from the sensor unit 103, and records it for each time interval.

(S210) The collation unit 106 notifies the behavior detection unit 104 of the time interval of the moving body event.

(S211) The behavior detection unit 104 receives a time interval from the collating unit 106, and detects the behavior of the mobile terminal 1 from acceleration data and / or geomagnetic data in the time interval. From the acceleration data, “movement” and “stop” can be determined. From the geomagnetic data (azimuth information), the angular velocity of a certain time interval can be detected, and “rotation” or “non-rotation” can be determined.

  The behavior detection unit 104 obtains a power spectrum by performing fast Fourier transform (FFT) on the time interval notified from the verification unit 106 with respect to the acceleration data recorded for each time interval. The state can be estimated by comparing this power spectrum with the “movement” and “stop” patterns prepared in advance.

When the behavior detection unit 104 can receive acceleration data and geomagnetic data from the sensor unit 103, the behavior detection unit 104 can detect four behaviors as shown in Table 4 below.

  Note that the behavior detection unit 104 can also receive a notification of the user's operation status with respect to the mobile terminal from the terminal event detection unit 105.

  The behavior detection unit 104 returns the behavior information detected for the time interval notified from the verification unit 106 to the verification unit 106.

(S212) The collation unit 106 collates whether or not the motion type of the moving body event notified from the trajectory extraction unit 102 matches the behavior information notified from the behavior detection unit 104. If they match, the position of the moving body of the singular vector is determined to be the position of the mobile terminal 1.

(S213) The collation unit 106 notifies the position detection unit 107 of the moving body ID and position coordinates of the moving body of the matched singular vector.

(S214) The position detection unit 107 receives the mobile object ID and position coordinates of the mobile terminal 1 from the collation unit 106. The position detection unit 107 detects the relative position of the position coordinates of the mobile terminal 1 with respect to the position coordinates of the stationary body. For example, by determining that the position coordinates of the mobile terminal 1 are close to the position coordinates of the stationary body, the user possessing the mobile terminal 1 can also perform some operation on the stationary body. For example, the mobile terminal 1 can transmit information to the stationary body.

  As described above in detail, according to the mobile terminal, the camera, and the program of the present invention, the position of the moving object is not specified by the environment side system (privacy is ensured) and depends on the environment side system. Without ensuring (general versatility), the mobile terminal can detect its own position. In addition, since the environment-side system has only a function of transmitting a two-dimensional map to the mobile terminal, the information management cost in the environment-side system can be reduced, and a ubiquitous environment advantageous for public spaces can be provided. . Furthermore, since the relative position of the position coordinates of the moving body can be detected with respect to the position coordinates of the stationary body, the cost can be reduced as compared with the case of managing by general map information.

  According to the various embodiments of the present invention described above, those skilled in the art can easily make various changes, modifications and omissions within the scope of the technical idea and the viewpoint of the present invention. The above description is merely an example, and is not intended to be restrictive. The invention is limited only as defined in the following claims and the equivalents thereto.

It is a functional block diagram of the mobile terminal and camera in this invention. It is a sequence diagram of each function part of the mobile terminal in this invention. It is the coordinate map by which the position of the moving body was expand | deployed by the locus | trajectory extraction part. It is a coordinate figure of the singular vector discovered by a locus extraction part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile terminal 101 Two-dimensional map receiving part 102 Trajectory extraction part 103 Sensor part 104 Behavior detection part 105 Terminal event detection part 106 Collation part 107 Position detection part 2 Camera 201 Image pick-up part 202 Two-dimensional map creation part 203 Two-dimensional map transmission part 3 User, mobile

Claims (8)

A mobile terminal that detects its own position,
A two-dimensional map that has been extracted from the image information obtained by photographing an environment including a movable body which owns the mobile terminal includes a mobile identifier assigned arbitrarily to the mobile, the position coordinates of the moving body a two-dimensional map reception means for receiving the two-dimensional map,
A movement vector in which the position coordinates of each moving body are connected in time series is derived, and for each time interval , a movement vector subsequent to the previous movement vector is “moving” or “stopped” for a plurality of moving bodies. A trajectory extracting means for deriving at most one subsequent movement vector as a singular vector in which the subsequent movement vector with respect to the previous movement vector has different movements of “stop” or “movement” ;
Sensor means for outputting acceleration data of the mobile terminal;
From the acceleration data, in each time section, and behavior detecting means for detecting a "move" or "stop" as the behavior information of the mobile terminal,
For the same time interval, the based on the behavior information and "move" or "stop", when the the based on singular vectors "move" or "stop" match, position the movement of the movable body of the singular vector A mobile terminal comprising: a matching unit that determines that the terminal is located. The two-dimensional map further includes a stationary body identifier arbitrarily given to the stationary body and position coordinates of the stationary body,
The mobile terminal according to claim 1, further comprising a position detection unit that detects a relative position of the position coordinate of the mobile terminal determined by the collating unit with respect to the position coordinate of the stationary body. The sensor means further outputs geomagnetic data,
The behavior detecting means further detects a "rotation" or "non-rotation" before Symbol geomagnetic data per time interval,
The collating means, for the same time section, behavior information “curve” “straight forward” or “stop” based on the “movement” or “stop” and “rotation” or “non-rotation”, and the change of the singular vector “ The position of the moving body of the singular vector is determined to be the position of the mobile terminal when the "curve", "straight forward", or "stop" coincides with each other. The described mobile terminal. A camera having a photographing means for photographing a moving body having the mobile terminal according to any one of claims 1 to 3 ,
2D map creating means for creating a 2D map including a moving body identifier arbitrarily given to the moving body and position coordinates of the moving body from the captured image information;
A camera comprising: a two-dimensional map transmitting means for transmitting the two-dimensional map to the mobile terminal via a wireless link. A program that allows a computer installed in a mobile terminal that detects its own position to function,
A two-dimensional map that has been extracted from the image information obtained by photographing an environment including a movable body which owns the mobile terminal includes a mobile identifier assigned arbitrarily to the mobile, the position coordinates of the moving body a two-dimensional map reception means for receiving the two-dimensional map,
A movement vector obtained by connecting the position coordinates of each moving body in time series is derived, and the subsequent movement vector with respect to the previous movement vector moves “moving” or “stopping” for a plurality of moving bodies for each time interval. A trajectory extracting means for deriving at most one subsequent movement vector as a singular vector in which the subsequent movement vector with respect to the previous movement vector has different movements of “stop” or “movement” ;
Sensor means for outputting acceleration data of the mobile terminal;
Behavior detection means for detecting “movement” or “stop” as behavior information of the mobile terminal for each time interval from the acceleration data;
For the same time interval, the based on the behavior information and "move" or "stop", when the the based on singular vectors "move" or "stop" match, position the movement of the movable body of the singular vector A program that causes a computer to function as collation means for determining that a terminal is located. The two-dimensional map further includes a stationary body identifier arbitrarily given to the stationary body and position coordinates of the stationary body,
6. The computer according to claim 5 , further comprising a computer that functions as a position detection unit that detects a relative position of the position coordinate of the mobile terminal determined by the verification unit with respect to the position coordinate of the stationary body. program. The sensor means further outputs geomagnetic data,
The behavior detecting means further detects a "rotation" or "non-rotation" before Symbol geomagnetic data per time interval,
The collating means, for the same time section, behavior information “curve” “straight forward” or “stop” based on the “movement” or “stop” and “rotation” or “non-rotation”, and the change of the singular vector “ The computer is caused to function so as to determine that the position of the moving body of the singular vector is the position of the mobile terminal when the "curve", "straight forward", or "stop" matches. The program according to claim 5 or 6. A program for a camera for causing a computer mounted on a camera having a photographing means for photographing a moving body having the mobile terminal according to any one of claims 1 to 3 ,
2D map creating means for creating a 2D map including a moving body identifier arbitrarily given to the moving body and position coordinates of the moving body from the captured image information;
A program for a camera that causes a computer to function as a two-dimensional map transmission unit that transmits the two-dimensional map to the mobile terminal via a wireless link.

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