JP5812509B2 - Map display device, map display method and program - Google Patents

Description

  The present invention relates to a map display device, a map display method, and a program. For example, the present invention relates to a map display device, a map display method, and a program that can be used as a map by taking a guide board and the like found at a destination as images.

  A typical map display device is a navigation device. The navigation device receives radio waves from GPS satellites, measures the current position, displays the current position on a map, and map information is indispensable.

  The map information has various scales from a map of the entire area (wide area map) to a map of the city area (detailed map). Therefore, a large-capacity storage device is required to store all scale map information in the device.

  In this respect, many in-vehicle navigation devices are equipped with a large-capacity storage device such as a hard disk, so that a necessary and sufficient amount of map information can be stored, but a simple current location display function is provided. Electronic devices provided, for example, portable electronic devices such as GPS-equipped mobile phones and digital cameras, generally have only a small-capacity storage device. There is no choice but to take a limited form of use in which only map information is captured and used for displaying the current location.

  The disadvantage of such usage is that the current location cannot be displayed when acting off the map.

  By the way, there are a lot of guidance information in various shapes around us. For example, a street information board standing on a street corner, an in-store information board posted on the wall of a store, etc., an in-house information board such as a park or an amusement park, etc., or images of those information boards It can also be obtained from the Internet. If such guidance information can be used as map information, the above-mentioned drawbacks (the present location cannot be displayed when acting off the map) can be solved.

  In this regard, Patent Document 1 below discloses a technique (hereinafter referred to as a first conventional technique) that reads a printed matter on which a map is drawn as image information using a scanner and uses the image information as a map. ing. If the “scanner” of this technique is replaced with “camera”, the various guide information can be used without any problem. In other words, a guide board or the like found at a destination can be taken with a camera, and the image can be used as map information.

  However, some of the above-mentioned various guide information (block guide board, in-store guide board, in-park guide board, etc.) are partly or entirely deformed (deformed) in consideration of design convenience and visibility. In many cases, it cannot be used as map information. This is because the measured coordinates do not match the map coordinates.

  In this regard, Patent Document 2 below discloses a technique for displaying after correcting distortion of a deformed map image (hereinafter referred to as a second conventional technique). Specifically, after setting a plurality of positioning points (hereinafter referred to as points) over the entire map image, the measured coordinates acquired by the GPS satellite and the map coordinates of the points are associated with each point. By repeating the operation for the number of points, the distortion of the deformed map image is corrected, and the map information after the distortion correction is displayed.

  According to the second prior art, distortion of the deformed map can be corrected and used, so the above various guide information (block guide plate, store guide plate, in-park guide plate, etc.) is appropriately used. It can be taken with a camera and used as map information for displaying the current location.

JP 2008-032693 A JP 2010-117291 A

  However, the second conventional technique has a problem in that it is necessary to associate the measured coordinates with the map coordinates for all the set points, and the display of the current location cannot be started immediately after the map image is acquired. is there. For example, when the number of set points is N, the display of the current location can be started only after all the N points are associated with the measured coordinates and the map coordinates.

  Then, this invention is providing the map display apparatus, map display method, and program which can start the display of the present location immediately after acquisition of a map image.

A map display device according to the present invention includes an imaging unit that performs imaging in accordance with an imaging instruction, an image capturing unit that captures a map image, an image display unit that displays a map image captured by the image capturing unit, and a geographical location Coordinate correspondence information storage means for storing coordinate correspondence information for associating geographic coordinates that are different coordinates and map coordinates that are coordinates on the map image in association with each of a plurality of different geographic coordinates, and corresponding to the current position First position acquisition means for acquiring geographic coordinates, coordinates for specifying map coordinates on the map image corresponding to the geographic coordinates acquired by the first position acquisition means, and coordinates for associating the geographic coordinates with the map coordinates An association means for storing correspondence information in addition to the coordinate correspondence information storage means, and a current position on the map image based on the geographical coordinates acquired by the first position acquisition means. When displaying, the map corresponding to the acquired geographic coordinates after correcting the partial distortion of the map image using a plurality of coordinate correspondence information stored in the coordinate correspondence information storage means at that time e Bei a position display means for displaying identify the coordinates, the first position acquisition means, image pickup at a position of the object corresponding to one of the symbols shown on the map image by the image pickup means If so, the geographical coordinates of the shooting point are acquired, and the association unit corresponds to the symbol on the map image that is present at a position closer to the geographical coordinates of the shooting point acquired by the first position acquisition unit. The coordinate correspondence information for specifying the map coordinates to be associated and associating the map coordinates with the geographic coordinates is added to the coordinate correspondence information storage means and stored .

  According to the present invention, even if the map is deformed, it is displayed as it is and the current position on the deformed map is specified and displayed. Display can begin.

It is an external view of an imaging device. It is an internal block diagram of an imaging device. It is a conceptual structure figure of an association table. It is a figure which shows measured map information and guidance information (deformed) corresponding to the measured map information. It is a conceptual diagram of orientation alignment. It is a figure which shows the example which displayed the actual present location movement and its movement process on the guidance information 27 as it is. It is a figure which shows the principal part flow of the control program run by CPU19a of the central control part 19. FIG. It is a conceptual diagram of the present position correction process in step S5 and step S8. It is a conceptual diagram of the present location display corresponding to the control program of FIG. It is a conceptual diagram of the present location display corresponding to the control program of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings, taking application to an imaging apparatus such as a digital camera as an example.

First, the configuration will be described.
FIG. 1 is an external view of the imaging apparatus. In this figure, an imaging apparatus 1 includes a display unit 4 with a touch panel 3 on the back surface of a housing 2 having a shape suitable for holding, and various operation buttons (for example, a shooting / playback mode switching button 5, a menu button 6, Up / down / left / right operation key 7, execution button 8, etc.), a shutter button 9, a power switch 10, etc. 11 includes a retractable or fixed lens barrel 12 and a strobe light emission window 13. Although omitted in this figure, a battery or a storage medium (a memory 21 to be described later) is provided on the bottom surface of the housing 2 or the like, and the bottom surface or side surface of the housing 2 or any other option. Is provided with a signal connector for an external interface (external I / F 22 described later).

  FIG. 2 is an internal block diagram of the imaging apparatus. The imaging device 1 includes an imaging unit 14, a strobe light emitting unit 15, an operation unit 16, a position detection unit 17, a direction detection unit 18, a central control unit 19, a touch panel 3, a display unit 4, a memory I / F (interface) 20, and a memory. 21, an external I / F 22, a power supply unit 23, and the like.

  The imaging unit 14 converts an optical system 11 including a photographing lens, a diaphragm mechanism, a focus mechanism, a zoom mechanism, and the like, and an optical image of an arbitrary subject captured via the optical system 11 into a two-dimensional image signal. And a two-dimensional imaging device 24 such as a CCD or a CMOS that outputs the two-dimensional imaging device under the control of the central control unit 19 while driving the aperture mechanism, the focus mechanism, the zoom mechanism, etc. of the optical system 11 In step 24, a still image or a moving image of the subject is captured, and the captured data (hereinafter referred to as image data) is output to the central control unit 19.

  The strobe light emitting unit 15 performs auxiliary light emission during shooting under the control of the central control unit 19 as necessary.

  The operation unit 16 includes various buttons (shooting / playback mode switching button 5, menu button 6, up / down / left / right operation key 7, execution button 8, shutter button 9, power switch 10 and the like) provided on each part of the housing 2. In response to an arbitrary button operation by the user, an operation signal corresponding to the button is generated and output to the central control unit 19.

  The position detection unit 17 is a device for detecting the current position of the imaging apparatus 1, and is typically a position detection device using a GPS satellite. GPS is an abbreviation for Global Positioning System, and several of the approximately 30 GPS satellites that orbit an altitude of about 20,000 Km over a period of about 12 hours. In this system, the position coordinates (measured coordinates) of the positioning point can be known from the signals received from the satellite. The position detection accuracy for private use is said to be about 100 m, but if DGPS (Differential GPS) is used, extremely high accuracy of 10 m or less can be obtained. In DGPS, two receivers are used to obtain an accurate position based on the difference between the respective positioning positions. What is necessary is just to use GPS alone or together with DGPS according to the required precision. Hereinafter, the position detection unit 17 will be described as using GPS satellites. The position detection unit 17 receives signals from a plurality of GPS satellites via the GPS antenna 17a under the control of the central control unit 19. Then, the current position coordinates are measured based on these signals, and the positioning result is output to the central control unit 19.

  The azimuth detecting unit 18 is a device for detecting the “orientation” of the imaging apparatus 1, and for example, an electronic compass using geomagnetism such as an MI (Magneto-impedance Effect) sensor can be used. The azimuth detecting unit 18 detects the imaging direction in a substantially horizontal plane in the east, west, south, and north directions as the “direction” of the imaging apparatus 1. In this case, the shooting direction may include an elevation angle (upward shooting) or a depression angle (downward shooting).

  The central control unit 19 controls a program control system including a computer or microcomputer (hereinafter referred to as CPU) 19a, a read-only semiconductor memory (hereinafter referred to as ROM) 19b and a high-speed semiconductor memory (hereinafter referred to as RAM) 19c, and peripheral circuits not shown. The control program stored in the ROM 19b in advance is loaded into the RAM 19c and executed by the CPU 19a, so that various processes are executed sequentially, and the overall operation of the image pickup apparatus 1 is comprehensively controlled. The ROM 19b may be a rewritable nonvolatile semiconductor memory (flash memory, PROM, etc.).

  The display unit 4 is a flat display device such as a liquid crystal display, and preferably has a touch panel 3 on the front surface thereof. The display unit 4 displays information appropriately output from the central control unit 19, and outputs information on the touch position to the central control unit 19 when a touch operation is performed on the touch panel 3 by the user. .

  The memory I / F 20 is, for example, a general-purpose interface corresponding to the standard of the memory 21 (such as an SD card), and is located between the central control unit 19 and the memory 21 and mediates mutual data exchange.

  The memory 21 is a nonvolatile and rewritable information storage element. For example, a flash memory such as an SD card, a hard disk, a silicon disk, or the like can be used. The memory 21 stores and saves image data taken by the imaging unit 14, and stores and saves an association table 25 (see FIG. 3) described later.

  The external I / F 22 is a data interface with an external device such as a personal computer. The external device can access the memory 21 via the external I / F 22 and the central control unit 19, and can read image data stored in the memory 21 or write it back to the memory 21. Alternatively, new image data is written into the memory 21.

  The power supply unit 23 includes a battery including a primary battery or a rechargeable secondary battery, and generates various power supply voltages necessary for the operation of the imaging apparatus 1 from the power of the battery and supplies the generated power supply voltages to each unit.

Next, the operation will be described.
The imaging device 1 has at least the following two functions. The first function is a main function as an imaging device, that is, a still image or a moving image of an arbitrary subject is captured and the image data is stored and stored in the memory 21 or the stored image data is reproduced on the display unit 4. The second function is a display function of the current location (the current position of the imaging device 1).

  Map information is indispensable for displaying the current location. In general, the map information used to display the current location is so-called actual map information (map information created based on aerial surveys and field surveys, also called actual map information). Since map information from a wide area map to a detailed map is included, the amount of information is large. For example, in the case of an electronic device (such as the imaging apparatus 1) having only a small-capacity storage device, all map information cannot be stored.

Therefore, in this embodiment, various guidance information existing around us, for example, a street information board standing on a street corner, an in-store information board posted on a wall surface of a store, etc., in-park information such as a park or an amusement park By appropriately using a plate, etc. as map information, the above disadvantages (all map information cannot be stored in the case of an electronic device having only a small-capacity storage device) are eliminated. did. That is, when appropriate guidance information (such as a block information board) is seen at a destination or the like, the guidance information is captured and captured as image data, and the image data can be used as map information.
The map information here is not map information that the user simply browses, but electronic map information in which data for automatically recognizing the relationship between the coordinates on the map and the actual geographical coordinates is stored. (Sometimes simply referred to as map information).

However, simply “capturing the guide information and taking it as image data” may not deny the inconvenience. The above-mentioned various guide information (block guide board, in-store guide board, in-park guide board, etc.) is partly or entirely deformed (deformed) in consideration of design convenience and visibility. This is because it is difficult to associate the real coordinates with the map coordinates if they are deformed and cannot be used as map information. In other words, the deformed map here means not only that the scale and orientation of the entire map are different, but also that the map is partially distorted. It means a map in which the actual coordinates do not match the map coordinates simply by correcting.
The map coordinates are pixel coordinates corresponding to the pixel positions on the map image, and the real coordinates are geographical coordinates such as actually measured coordinates measured by GPS or the like. It is preferable to obtain the actual coordinates automatically by GPS, but if it is difficult to move to that location or if it is possible to check the geographic coordinates by some method, the user manually inputs it. You may enter the correct geographic coordinates.

  In this regard, the second prior art (Patent Document 2) at the beginning discloses a technique for displaying the image after correcting the distortion of the deformed map image. Can be eliminated (cannot be used as map information as it is). However, in the second conventional technique, after setting a plurality of positioning points (points) over the entire map image, for each point, the actual measurement coordinates acquired by the GPS satellite and the map coordinates of the points are associated with each other. There is a problem that the display of the current location cannot be started until after all the points have been processed.

  Therefore, in this embodiment, it is an object to be able to start displaying the current location promptly after acquiring a map image. To solve the problem, first, even if the map information is deformed, It is characterized in that it is displayed as it is without correction. That is, the first feature is to display the deformed map image in the deformed state instead of displaying it after correcting the distortion of the deformed map image as in the second prior art. However, it is only necessary to display the deformed state at least immediately after acquiring the map image, and it is possible to correct the deformed display after obtaining sufficient data to correct the deformed image.

However, when the map information is displayed in the deformed state, it is difficult to associate the actual current position (measured coordinates) with the current position on the map (map coordinates). That is, only by correcting the scale and orientation of the entire deformed map, the partial distortion cannot be corrected, resulting in a mismatch between the measured coordinates and the map coordinates.
Here, two methods for associating measured coordinates with map coordinates will be described.
The first method is to roughly correct the scale and orientation of the entire map in the deformed map information to obtain rough corrected map information, and then finely distort the partial distortion based on the rough corrected map information. This is a method of correcting the map coordinates corresponding to the actually measured coordinates.
The second method simultaneously corrects the scale, orientation, and partial distortion in the deformed map information without distinguishing between the correction of the scale and orientation of the entire map and the correction of partial distortion. This is a method for specifying map coordinates corresponding to measured coordinates.
When the first method is used, it is possible to roughly correct the scale and orientation of the entire map and obtain approximate corrected map information if the correspondence information between the measured coordinates and the map coordinates is obtained for at least two points. If there is no need to correct the partial distortion, the display operation of the current position can be started immediately after the outline correction map information is obtained. In order to correct even partial distortion, it is necessary to obtain correspondence information between measured coordinates and map coordinates for at least three points.
Similarly, even when the second method is used, in order to correct the partial distortion, it is necessary to obtain correspondence information between the measured coordinates and the map coordinates for at least three points. If the correspondence information with the map coordinates is obtained, the display operation of the current position can be started.
In the present embodiment, the first method is used, but the second method may be used.
The second feature of the present embodiment is that the following two processes are performed in order to eliminate the discrepancy between the actually measured coordinates and the map coordinates when the rough corrected map information is used.

(1) Current position teaching process:
The user first acquires a map image. That is, an appropriate guide plate or the like is photographed and the image data is captured. Then, the current position is taught at an appropriate point on the map. The teaching of the current position means that the current position coordinates (actually measured coordinates) and the position coordinates on the map (map coordinates, specifically pixel coordinates) are associated (also called association). . For example, when the current position of the user is in front of Tokyo Station, the user can specify the current position on the touch panel or move the cursor key while the acquired map image is displayed on the display unit. In response to an operation event or the like indicating the current position on the map image), GPS positioning is performed to obtain positioning coordinates, and the coordinates of the Tokyo station which is the positioning coordinates (for convenience, a) and the user instruction Corresponding to the pixel coordinates (A for convenience) on the map acquired accordingly. When displaying the taught current position on the map, the pixel coordinate A is used instead of the actual measurement coordinate a. Since the pixel coordinate A is a position on the map in the deformed state, there is no mismatch between the actual current position and the current position on the map.

(2) Correction processing of the current position during movement:
The position while the user is moving is sequentially detected by the position detection unit 17, but in the case of a deformed map, the detected position cannot be displayed on the map as it is. This is because there is a place where the actual position and the position on the map do not match due to partial distortion only by correcting the scale and orientation of the entire map. This inconsistency can be eliminated by the estimation calculation using the teaching information (1). In other words, if there are at least three taught points, an estimation calculation using the coordinate information of the three points (Equation 1 and Equation 2 described later) is performed, so that the actual position during movement is determined on the map. Can be corrected.

  Therefore, according to the present embodiment, the current location display can be started by performing at least two point teachings, and the partial map distortion can be corrected by performing at least three point teachings. Compared to the second prior art in which positioning has to be performed for all points, the current position display start timing can be accelerated, and the above problem (current position display can be started immediately after acquisition of a map image) is solved. it can.

  FIG. 3 is a conceptual structural diagram of the association table. The association table 25 stored and saved in the memory 21 is composed of a plurality of records including a point number field 25a, an actual measurement coordinate field 25b, and a pixel coordinate field 25c. One record is created for each point. In the point number field 25a, a point number for uniquely identifying a positioning point is stored. In the actual measurement coordinate field 25b, actual coordinate (GPS coordinate) information detected by the position detection unit 17 is stored. The pixel coordinate field 25c stores pixel coordinate (map coordinate) information on the map image of each point.

For example, in the illustrated example, the point number “P1”, its actually measured coordinate “a”, and its pixel coordinate “A” are registered in association with each other in the first record. When the coordinate “a” is displayed on the screen, it is displayed at the position “A”. In other words, it means that “a” is corrected to “A”. Similarly, the point number “P2”, the actually measured coordinate “b”, and the pixel coordinate “B” thereof are registered in the second record, and this indicates that the actually measured coordinate “b” of the point P2 is displayed on the screen. When displaying, this means that the correction is made from “b” to “B”, and the point number “P3”, the actual measurement coordinate “c”, and the pixel coordinate “C” are registered in the third record. This means that when the actual measurement coordinate “c” of the point P3 is displayed on the screen, it is corrected from “c” to “C”, and the point number “P6” in the sixth record. And the actual coordinate “f” and the pixel coordinate “F” are registered. This is because the actual coordinate “f” of the point P6 is displayed on the screen from “f” to “F”. It means to correct.
As described above, when the actual measurement coordinates are converted into the pixel coordinates, it is easy to understand that the actual measurement coordinates are corrected to the pixel coordinates and the correction vector is different depending on the place.
That is, in a partially distorted map, the correction vector differs depending on the location, but the correction vectors at adjacent locations are similar, and are considered to change continuously as the location moves away.
In this way, it is possible to perform an operation of interpolating a correction vector at an unregistered position using the surrounding correction vectors (ie, averaging by performing weighting inversely proportional to the distance).

  FIG. 4 is a diagram showing actual measurement map information and guidance information (deformed) corresponding to the actual measurement map information. (A) is actual measurement map information 26, and (b) is guide information 27 corresponding to the actual measurement map information. The actual measurement map information 26 includes, for example, unique features such as gates 28, roads 29 to 32, fountains 33, ponds 34, houses 35 and 36, bridges 37, rivers 38 and 39, and guidance information 27. In addition, various marks (gate 28, roads 29 to 32, fountain 33, pond 34, houses 35 and 36, bridge 37, and rivers 38 and 39) corresponding to these unique features are written.

  Here, the guide information 27 is, for example, a guide plate set up near the gate 28. Such a guide board is often provided at a facility entrance such as a park, and is used to inform a person who visits the facility of the current location or to guide a route to a target point.

  The imaging apparatus 1 of the present embodiment can be used as map information by imaging such guidance information 27 and capturing it as image data. Hereinafter, the usage form will be described.

In order to use the guide information 27 captured as image data as map information, first, orientation adjustment must be performed.
This azimuth alignment is a process suitable for the case where the first method described above is used, but is not indispensable, and for example, is not necessary when the second method described above is used.

<Alignment>
FIG. 5 is a conceptual diagram of alignment. In general, it is customary that the direction (orientation) of the map is north. It is also customary to write a sign indicating the direction on the map when north is not up. (A) is an example of the former, and (b) is an example of the latter.

  In the case of the guide information 27 with north facing up (a), the four sides of the display unit 4 may be photographed with the four sides of the guide information 27 aligned. That is, what is necessary is just to image | photograph as it is facing the guidance information 27 as it is. The imaging device 1 recognizes the direction of the guidance information 27 at the time of shooting as the basic orientation, and thereafter, when the direction of the imaging device 1 changes (the output of the orientation detection unit 18 changes), the display unit corresponds to the change. 4 is corrected.

In the case of the guidance information 27 that does not face north (b), it is only necessary to look at the direction symbol 52 to confirm the north direction, and shoot with the left and right sides of the display unit 4 aligned with the north direction. That is, in the illustrated example, the guide information 27 may be photographed in a state where the imaging device 1 is rotated by an appropriate amount in the counterclockwise direction (a state where the north of the azimuth symbol 52 is on the photographing composition). The imaging device 1 recognizes the direction of the guidance information 27 at the time of shooting as the basic orientation, and thereafter, when the direction of the imaging device 1 changes (the output of the orientation detection unit 18 changes), the display unit corresponds to the change. 4 is corrected.
Even if this orientation adjustment is not performed at the time of shooting, after the correspondence information between the measured coordinates and the map coordinates is obtained for at least two points, the orientation is processed by rotating the image according to the acquired coordinate information. It is also possible to obtain a combined map image.

<Current location display>
Next, the current location display will be described.
FIG. 6 is a diagram showing an example in which the actual current location movement and the movement process are displayed on the guidance information 27 as they are. Here, as shown in (a), the actual current location movement starts from the vicinity of the gate 28 of the road 29 in the measured map information 26, turns right in front of the fountain 33 and enters the road 32. It is assumed that the route reaches the front of the second house 36 through the bridge 37 in front of the eye house 35. The current position during this time can be sequentially detected by the position detector 17. The current positions P1, P2, P3,... Detected by the position detector 17 are indicated by circles (◯) on the actual measurement map information 26.

  If the positions P1, P2, P3,... Are displayed on the guide information 27 as they are, as shown in FIG. This is because the guide information 27 is deformed and the scale is not matched. Here, the scales of (a) and (b) are approximately the same, but this is for convenience of illustration.

  FIG. 7 is a diagram showing a main part flow of a control program executed by the CPU 19 a of the central control unit 19. This control program extracts the second function of the image pickup apparatus 1, that is, the portion related to the display function of the current location, and the control program includes the current positions P1, P2, P3 on the deformed guide information 27. ,... Includes position correction processing.

When this control program is started, a map image is first taken in (step S1). The map image is an image of guide information 27 such as a guide board provided at a facility entrance such as a park. Once the map image has been captured, it is next determined whether or not the current position is instructed, that is, whether or not the current position information detected by the position detector 17 is intentionally captured and registered ( Step S2). Intentional capture and registration of current position information means, for example, that GPS positioning is performed in response to a user pointing and operating a point on the map corresponding to the current position on the touch panel, This means that registration is performed by associating with GPS-measured actual coordinates.
This registration process may be performed when an arbitrary subject is photographed by the user. In that case, when the user takes a picture in front of a specific subject (subject corresponding to one of the marks marked on the map), the position coordinates of the shooting point are acquired by GPS positioning, The map coordinates corresponding to the position coordinates are specified (estimated), the position of the symbol on the map that is closest to the map coordinates is specified by image recognition, etc., and the determined position coordinates and the specified map The map coordinates corresponding to the upper symbol may be registered in association with each other.
In this way, it is possible to register points by simply shooting at the position of the symbol displayed on the map, without the user performing an instruction operation on the position on the map.
In this case, there is a high possibility that an incorrect symbol will be recognized when the difference between the positioning coordinates and the map coordinates is large, or where the symbols on the map are densely populated. You may make it make a user select.

  When the teaching of the current position is determined, the mark corresponding to the current position (gate 28, road 29-32, fountain 33, pond 34, house 35, 36, bridge 37, river 38, FIG. 39 is determined (step S3). If a mark is specified, the mark is associated with the current position (step S4) and registered in the association table 25. That is, a new record is added to the association table 25, a new point number is stored in the point number field 25a of the record, and the actual coordinates detected by the position detector 17 are stored in the actual coordinate field 25b of the record. In addition, the designated mark coordinates (pixel coordinates of the guide information 27) are stored in the pixel coordinate field 25c of the record. For example, when the user takes a picture in front of the gate 28 or the fountain 33, the position coordinates of the gate 28 or the fountain 33 are stored in the measured coordinate field 25b, and the mark coordinates ( The pixel coordinate of the fountain 33 in the guide information 27) is stored in the pixel coordinate field 25c.

  Once the mark is associated with the current position, the current position is corrected and the scale of the map (guidance information 27) is changed (step S5). Then, the corrected current position is displayed on the map (guidance information 27). (Step S6). The corrected current position in step S5 is not the actual measurement coordinates detected by the position detection unit 17, but the mark coordinates (pixel coordinates of the guide information 27). For example, when the added record is the first record in FIG. 3, the point coordinate “A” is used instead of the actual measurement coordinate “a”.

  Further, the map scale change in step S5 is performed based on the distance between actually measured coordinates of the two teaching points (for example, P1 and P3) performed immediately before. That is, the size of the display map (guidance information 27) is changed so that the distance between the mark coordinates on the map corresponding to those points substantially matches the distance between the measured coordinates. This change may be performed uniformly over the entire display map (guidance information 27), or may be limited to the vicinity of target teaching points (for example, P1 and P3). Alternatively, the scales in the vicinity of the target teaching points (for example, P1 and P3) may be changed so as to substantially coincide with each other, and the scales of the other parts may be appropriately changed so as not to become unnatural.

  FIG. 8A is a conceptual diagram of the current position correction process in step S5. As shown in this figure, when the position coordinate of the shooting point is a and the pixel coordinate (mark coordinate) in the guide information 27 of the mark (for example, the fountain 33) of the shooting point is A, the corrected current position (display position) ) Becomes A. Since A is a deformed position, the inconvenience (displacement of the current location in the guidance information 27) as shown in FIG. 6B does not occur.

  On the other hand, if the teaching of the current position is not determined in step S2, it is next determined whether or not it is the automatic update timing of the current location (step S7). If it is not the update timing, the process returns to step S2, and if it is the update timing, the actual coordinates detected by the position detector 17 are taken in, the current position is corrected (step S8), and then the corrected current position is displayed as a map image. The information is displayed on (guidance information 27) (step S6), and the process returns to step S2.

  FIG. 8B is a conceptual diagram of the current position correction process in step S8. In this figure, assuming that the current location is C and Pa to Pe are some points around C (points registered in association table 25), first, some points around C (here, Three points close to C are selected from Pa to Pe). In the illustrated example, Pa, Pb, and Pc are selected.

  Here, the measured coordinates of Pa are (Jxa, Jya), the pixel coordinates are (Pxa, Pya), the measured coordinates of Pb are (Jxb, Jyb), the pixel coordinates are (Pxb, Pyb), and the measured coordinates of Pc are (Jxc). , Jyc), the pixel coordinates are (Pxc, Pyc), and the actual measurement coordinates of C are (Jx, Jy), the pixel coordinates of C, which is an unknown, that is, display correction coordinates (Px, Py) are The following equations (Equation 1 and Equation 2) can be obtained.

Px = (Pxa × (Jxb−Jx) × (Jxc−Jx) +
Pxb × (Jxa−Jx) × (Jxc−Jx) +
Pxc × (Jxa−Jx) × (Jxb−Jx)) /
((Jxb−Jx) × (Jxc−Jx) +
(Jxa−Jx) × (Jxc−Jx) +
(Jxa−Jx) × (Jxb−Jx)) (Equation 1)

Py = (Pya × (Jyb−Jy) × (Jyc−Jy) +
Pyb × (Jya−Jy) × (Jyc−Jy) +
Pyc × (Jya-Jy) × (Jyb-Jy)) /
((Jyb−Jy) × (Jyc−Jy) +
(Jya-Jy) × (Jyc-Jy) +
(Jya−Jy) × (Jyb−Jy)) (Equation 2)

Thus, if at least three points have already been registered in the association tape 25, the partial distortion of the map image is dynamically corrected using the previous formula (Formula 1 and Formula 2), and then the user's The current position can be specified, and the corrected current position can be displayed on the guide information 27.
This calculation formula (Formula 1 and Formula 2) corresponds to the current position when the coordinate correspondence information that associates the same geographic coordinates as the current position is not stored in the association table 25 (coordinate correspondence information storage means). Calculation for calculating the map coordinates corresponding to the current position by averaging the map coordinates of each coordinate correspondence information at a rate corresponding to the distance between the geographical coordinates and the geographic coordinates of each of the selected coordinate correspondence information It is a formula.
Then, when calculating the map coordinates corresponding to the current position using this calculation formula (Formula 1 and Formula 2), among the already stored plurality of coordinate correspondence information, the geographical coordinates closer to the current position By selectively using the associated coordinate correspondence information, it is possible to eliminate the influence of coordinate correspondence information that has a large distortion with respect to the current position, so even if there is a partial distortion in the map image, It is possible to calculate the map coordinates corresponding to the current position after correcting for any distortion.
Note that the number of points used in the calculation formulas (Formula 1 and Formula 2) is not necessarily three, and may be increased to four or more if the number of points close to the current position is large. In addition, when the number of points close to the current position is less than 3, the calculation may be performed with less than 3 points rather than using points that are too far apart.
At least, when a predetermined number of the coordinate correspondence information is stored in the association table 25 (coordinate correspondence information storage means), the display operation of the current position on the map image may be started (see Appendix 3 below). .
Further, at the time when two pieces of the coordinate correspondence information are stored in the association table 25 (coordinate correspondence information storage means), the two coordinate correspondence information is used to correct only the scale or orientation of the map image. Map coordinates corresponding to the acquired geographical coordinates may be specified and displayed (see Appendix 4 below).
In addition, after three or more pieces of coordinate correspondence information are stored in the association table 25 (coordinate correspondence information storage means), partial distortion of the map image is corrected using the three or more pieces of coordinate correspondence information. Thus, the map coordinates corresponding to the acquired geographical coordinates may be specified and displayed (see Appendix 5 below).
Further, when displaying the current position on the map image, the geographic coordinates closer to the current position among the plurality of coordinate correspondence information stored in the association table 25 (coordinate correspondence information storage means) at that time It is also possible to correct the partial distortion of the map image by selectively using the coordinate correspondence information associated with (see Appendix 6 below).
Further, when the coordinate correspondence information associated with the same geographical coordinates as the current position is not stored in the association table 25 (coordinate correspondence information storage means), the geographical coordinates corresponding to the current position and each of the selected coordinate correspondence information The map coordinates corresponding to the current position may be calculated by averaging the map coordinates of each piece of coordinate correspondence information at a rate corresponding to the distance to the geographical coordinates (see Appendix 7 below).
Further, in response to a user operation indicating a position on the displayed map image, the geographical coordinates corresponding to the current position are acquired by the position detection unit 17 (first position acquisition means), and the geographical coordinates and the user operation are displayed. The coordinate correspondence information for associating the map coordinates with each other may be added to the association table 25 (coordinate correspondence information storage means) and stored (see Appendix 8 below).

  9 and 10 are conceptual diagrams of current location display corresponding to the control program of FIG. In FIG. 9, black-filled positions P1, P3, P8, P14, and P16 indicate points (shooting positions) taught by the user, and other white circle positions P2, P4, P5, P6, P7, P9, and P10. , P11, P12, P13, and P15 indicate current positions that are sequentially displayed at a predetermined update timing.

  As shown in FIG. 10, since the first position P1 is near the gate 28, the measured coordinates of P1 are associated with the mark coordinates of the gate 28 (pixel coordinates of the guidance information 27), and the correspondence relationship is as follows. While being registered in the association table 25, the display location of the position P1 is corrected to the mark coordinates of the gate 28 (pixel coordinates of the guide information 27). Thereafter, when the user moves toward the fountain 33, the position P2 between them is displayed. However, the correction based on the expressions 1 and 2 is not performed for the position P2. This is because the number of points registered in the association table 25 is still one (P1) and does not satisfy the number of points required for the formula (three). However, it is desirable not to display the position P2 as it is, but to correct it to a position based on the immediately preceding teaching point (P1). The corrected position is indicated by P2 ′.

  When the user reaches the front of the fountain 33, the user teaches the second position P3. Since this position P3 is near the fountain 33, the measured coordinates of the position P3 are associated with the mark coordinates of the fountain 33 (pixel coordinates of the guide information 27), and the corresponding relationship is registered in the association table 25. At the same time, the display location of the position P3 is corrected to the mark coordinates of the fountain 33 (pixel coordinates of the guide information 27). The corrected position is indicated by P3 ′. Thereafter, when the user moves toward the first house 35, the positions P4 to P7 in the meantime are displayed, but the correction based on the expressions 1 and 2 is not performed for these positions P4 to P7. This is because the number of points required for the formula (3) is not yet satisfied. Also in this case, it is desirable that the positions P4 to P7 are not displayed as they are, but are corrected to a position based on the immediately preceding teaching point (P3). The corrected positions are indicated by P4 ′ to P7 ′.

  Thereafter, when the user reaches the front of the first house 35, the user teaches the third position P8. Since this position P8 is in front of the first house 35, the measured coordinates of the position P8 are associated with the mark coordinates of the house 35 (pixel coordinates of the guidance information 27), and the corresponding relationship is associated with the association table 25. And the display location of the position P8 is corrected to the mark coordinates of the house 35 (pixel coordinates of the guide information 27). The corrected position is indicated by P8 ′. Thereafter, when the user moves toward the bridge 37, the positions P9 to P13 in the meantime are displayed. Corrections based on Expressions 1 and 2 are performed on these positions P9 to P13. This is because the number of points (three) necessary for the formula is satisfied at this stage. The corrected positions are indicated by P9 ′ to P13 ′.

  Thereafter, when the user reaches the bridge 37, the user teaches the fourth position P14. Since this position P14 is on the bridge 37, the measured coordinates of the position P14 are associated with the mark coordinates of the bridge 37 (pixel coordinates of the guide information 27), and the corresponding relationship is registered in the association table 25. At the same time, the display location of the position P14 is corrected to the mark coordinates of the bridge 37 (pixel coordinates of the guide information 27). The corrected position is indicated by P14 ′. Thereafter, when the user moves toward the second house 36, a position P15 in the meantime is displayed, and correction based on Expressions 1 and 2 is also performed on this position P15. The corrected position is indicated by P15 ′.

  Thereafter, when the user reaches the front of the second house 36, the user teaches the fifth position P16. Since this position P16 is in front of the house 36, the measured coordinates of the position P16 are associated with the mark coordinates of the house 36 (pixel coordinates of the guidance information 27), and the corresponding relationship is registered in the association table 25. At the same time, the display location of the position P16 is corrected to the mark coordinates of the house 36 (pixel coordinates of the guidance information 27). The corrected position is indicated by P16 ′.

  Thus, in this embodiment, since guide information such as a guide board can be taken in as image data and used as a map, it is not necessary to store map data with a large capacity in advance. Further, even if the captured map image is deformed, it can be used as it is, and the current position can be displayed on the map.

  In addition, the current position displayed on the map is corrected correctly according to the map in the deformed state if at least three points have been confirmed (taught), so it is possible to grasp the current position and There is no hindrance to grasping the route.

  As described above, in the present embodiment, since the accurate display of the current location can be started at the stage where at least three points are determined, compared to the one that requires the determination of all points as in the second prior art, A unique effect that the start timing of the present location display can be accelerated is obtained.

As mentioned above, although several embodiment of this invention was described, this invention is not limited to these, The invention described in the claim, and its equal range are included.
The invention described in the claims of the present application will be appended below.

(Appendix 1)
The invention described in claim 1 is an image capturing means for capturing a map image, an image display means for displaying a map image captured by the image capturing means, geographical coordinates that are geographical coordinates, and coordinates on the map image. Coordinate correspondence information for associating the corresponding map coordinates with each of a plurality of different geographical coordinates, and a first position acquisition means for acquiring the geographical coordinates corresponding to the current position; Specifying coordinate coordinates on the map image corresponding to the geographic coordinates acquired by the first position acquisition means, and adding coordinate correspondence information associating the geographic coordinates with the map coordinates to the coordinate correspondence information storage means; When displaying the current position on the map image based on the geographic coordinates acquired by the association means stored in the first position acquisition means, the coordinates corresponding to the current position are displayed. Position display means for specifying and displaying map coordinates corresponding to the acquired geographic coordinates after correcting partial distortion of the map image using a plurality of coordinate correspondence information stored in the information storage means; A map display device characterized by comprising:
According to claim 1, even if it is a deformed map, it is displayed as it is, and the current position is corrected and displayed on the map. Can start.

(Appendix 2)
The invention described in claim 2 further includes imaging means for imaging an arbitrary subject and generating the image data, and the image capturing means is obtained by imaging a partially distorted map by the imaging means. 2. The map display according to claim 1, wherein the image data is used as the map image, and the image display means displays the map image without being corrected for partial distortion of the map image captured by the image capturing means. Device.
According to the second aspect of the present invention, it is possible to use the guide board as a map image by imaging the guide board found at the destination, etc., so there is no need to store a large amount of map information in advance. .

(Appendix 3)
According to a third aspect of the present invention, the position display means starts an operation of displaying the current position on the map image when a predetermined number of the coordinate correspondence information is stored in the coordinate correspondence information storage means. The map display device according to claim 2.
(Appendix 4)
According to a fourth aspect of the present invention, at the time when two pieces of coordinate correspondence information are stored in the coordinate correspondence information storage means, the position display means uses the two coordinate correspondence information to reduce the scale or orientation of the map image. 4. The map display device according to claim 3, wherein the map coordinates corresponding to the acquired geographic coordinates are specified and displayed after correcting only the coordinates.
(Appendix 5)
In the invention according to claim 5, the position display means uses the three or more pieces of coordinate correspondence information after the three or more pieces of coordinate correspondence information are stored in the coordinate correspondence information storage means. 4. The map display device according to claim 3, wherein map coordinates corresponding to the acquired geographic coordinates are specified and displayed after correcting the partial distortion.
(Appendix 6)
According to a sixth aspect of the present invention, when the position display means displays the current position on the map image, among the plurality of coordinate correspondence information stored in the coordinate correspondence information storage means at that time. 4. The map display device according to claim 3, wherein partial distortion of the map image is corrected by selectively using coordinate correspondence information associated with geographic coordinates closer to the current position.
(Appendix 7)
According to a seventh aspect of the present invention, when the coordinate display information associated with the same geographical coordinates as the current position is not stored in the coordinate correspondence information storage means, the position display means The map coordinates corresponding to the current position are calculated by averaging the map coordinates of each coordinate correspondence information at a rate according to the distance from the selected coordinate correspondence information to the geographic coordinates. Item 7. The map display device according to Item 6.
(Appendix 8)
According to an eighth aspect of the present invention, the association unit causes the first position acquisition unit to acquire geographical coordinates corresponding to a current position in response to a user operation indicating a position on the displayed map image. 8. The map display device according to claim 1, wherein coordinate correspondence information for associating coordinates with map coordinates indicated by a user operation is added to and stored in the coordinate correspondence information storage means. It is.
(Appendix 9)
The invention according to claim 9 further includes an imaging unit that images an arbitrary subject and generates image data thereof, and the first position acquisition unit generates image data of the arbitrary subject by the imaging unit. 2. The map display device according to claim 1, wherein a current position is sometimes obtained.
According to the ninth aspect, since the current position can be acquired simultaneously with the imaging of the subject, the current position can be acquired without taking time and effort.

(Appendix 10)
The invention according to claim 10 further includes an imaging unit that images an arbitrary subject and generates image data thereof, and the image capturing unit sets the image data captured by the imaging unit as the map image, The map display device according to claim 1, wherein the first position acquisition unit acquires a current position when image data of an arbitrary subject is generated by the imaging unit.
According to the tenth aspect, it is not necessary to store map information with a large capacity in advance because the guide plate can be used as a map image by imaging a guide plate or the like found at a destination. . Further, since the current position can be acquired simultaneously with the imaging of the subject, the current position can be acquired without taking time and effort.

(Appendix 11)
The invention according to claim 11 further includes second position acquisition means for acquiring a current position while moving from one map coordinate stored in the association means to two map coordinates, and the second position acquisition means. Display position correction means for correcting the display position based on the stored information stored in the association means when the current position acquired by the position acquisition means is displayed on the map image. The map display device according to claim 1.
According to the eleventh aspect, since the current position during movement can also be displayed on the map, it is possible to grasp the current location and the route to the destination.

(Appendix 12)
The invention according to claim 12 is an image capturing step for capturing a map image, an image display step for displaying the map image captured by the image capturing step, geographical coordinates that are geographical coordinates, and coordinates on the map image. A coordinate correspondence information storing step for storing coordinate correspondence information for associating with the map coordinates corresponding to each of a plurality of different geographical coordinates, a position acquisition step for acquiring the geographical coordinates corresponding to the current position, and the position acquisition An association step of identifying map coordinates on the map image corresponding to the geographic coordinates acquired in the step, and storing coordinate correspondence information for associating the geographic coordinates with the map coordinates in the coordinate correspondence information storage means; When the current position is displayed on the map image based on the geographic coordinates acquired in the position acquisition step, the coordinate correspondence information storage step is recorded at that time. And a position display step for specifying and displaying map coordinates corresponding to the acquired geographic coordinates after correcting partial distortion of the map image using a plurality of coordinate correspondence information that has been obtained. This is a map display method.
According to claim 12, even if the map is deformed, it is displayed as it is, and the current position is corrected and displayed on the map. Can start.

(Appendix 13)
According to a thirteenth aspect of the present invention, in the computer of the map display device, image capturing means for capturing a map image, image display means for displaying the map image captured by the image capturing means, geographical coordinates as geographical coordinates, and the Coordinate correspondence information storage means for storing coordinate correspondence information that associates map coordinates that are coordinates on a map image with each of a plurality of different geographical coordinates, position acquisition means for obtaining geographical coordinates corresponding to the current position, An association for specifying map coordinates on the map image corresponding to the geographic coordinates acquired by the position acquisition means, and adding and storing coordinate correspondence information for associating the geographic coordinates with the map coordinates in the coordinate correspondence information storage means Means, when displaying the current position on the map image based on the geographical coordinates acquired by the position acquisition means, the coordinates at the time Position display means for specifying and displaying map coordinates corresponding to the acquired geographic coordinates after correcting partial distortion of the map image using a plurality of coordinate correspondence information stored in the response information storage means It is a program characterized by giving the function as.
According to the thirteenth aspect, even if the map is deformed, the map is displayed as it is, and the current position is corrected and displayed on the map. Can start.

1 Imaging device (map display device)
4 Display section (image display means)
14 Imaging unit (image capturing means, imaging means)
17 Position detector (first position acquisition means, second position acquisition means)
19 Central control unit (position display means, display position correction means)
25 Association table (coordinate correspondence information storage means, association means)

Claims (10)

Imaging means for imaging in accordance with an imaging instruction;
Image capturing means for capturing a map image;
Image display means for displaying a map image captured by the image capture means;
Coordinate correspondence information storage means for storing coordinate correspondence information that associates geographic coordinates that are geographical coordinates and map coordinates that are coordinates on the map image in association with each of a plurality of different geographical coordinates;
First position acquisition means for acquiring geographical coordinates corresponding to the current position;
Specifying coordinate coordinates on the map image corresponding to the geographic coordinates acquired by the first position acquisition means, and adding coordinate correspondence information associating the geographic coordinates with the map coordinates to the coordinate correspondence information storage means; An association means for storing;
When displaying the current position on the map image based on the geographical coordinates acquired by the first position acquisition means, a plurality of coordinate correspondence information stored in the coordinate correspondence information storage means at that time is used. And a position display means for specifying and displaying the map coordinates corresponding to the acquired geographic coordinates after correcting the partial distortion of the map image,
The first position acquisition unit acquires the geographical coordinates of the shooting point when imaging is performed at the position of the subject corresponding to any of the symbols shown on the map image by the imaging unit;
The associating means specifies map coordinates corresponding to a symbol on the map image that is present at a position closer to the geographical coordinates of the shooting point acquired by the first position acquiring means, and the map coordinates and the geographical coordinates A map display device characterized in that coordinate correspondence information for associating is added and stored in the coordinate correspondence information storage means. The associating means estimates a map coordinate corresponding to the geographical coordinates of the shooting point acquired by the first position acquiring means, and the symbol on the map image present at a position closest to the estimated map coordinates. The position is specified by image processing, and coordinate correspondence information for associating the map coordinate corresponding to the specified symbol and the geographic coordinate is added to the coordinate correspondence information storage means and stored. The map display device described. In the case where imaging is performed at a place where symbols on the map image are dense, the associating means causes the user to select a symbol on the map image, and the map coordinates corresponding to the selected symbol and the map The map display device according to claim 2, wherein coordinate correspondence information that associates geographic coordinates is additionally stored in the coordinate correspondence information storage means. Image data obtained by imaging a map with partial distortion by the imaging means is the map image,
The map display device according to any one of claims 1 to 3, wherein the image display means displays the map image captured by the image capture means without correcting a partial distortion.   The position display means starts an operation of displaying the current position on the map image when two pieces of the coordinate correspondence information are stored in the coordinate correspondence information storage means, and stores the two pieces of coordinate correspondence information. While being performed, only the scale or orientation of the map image is corrected using the two coordinate correspondence information, and the map coordinates corresponding to the acquired geographic coordinates are specified and displayed, and the coordinate correspondence information After three or more are stored, the map coordinates corresponding to the acquired geographical coordinates are specified and displayed after correcting the partial distortion of the map image using the three or more coordinate correspondence information. The map display device according to claim 1, wherein the map display device is a display device.   When the position display means displays the current position on the map image, the geographical coordinates closer to the current position among the plurality of coordinate correspondence information stored in the coordinate correspondence information storage means at that time The map display apparatus according to claim 3, wherein the coordinate correspondence information associated with is selectively used to correct partial distortion of the map image.   The position display means, when coordinate correspondence information associated with the same geographical coordinates as the current position is not stored in the coordinate correspondence information storage means, the geographical coordinates corresponding to the current position and each selected coordinate correspondence information 7. The map display device according to claim 6, wherein the map coordinates corresponding to the current position are calculated by averaging the map coordinates of each piece of coordinate correspondence information at a rate according to the distance from the geographical coordinates. .   Further, a second position acquisition means for acquiring a current position while moving from one map coordinate stored in the association means to a second map coordinate, and the second position acquisition means 8. A display position correction unit that corrects a display position based on stored information stored in the association unit when displaying a current position on the map image. The map display device according to crab An imaging process for imaging in accordance with an imaging instruction;
An image capture process for capturing a map image;
An image display step for displaying the map image captured by the image capture step;
A position acquisition step of acquiring geographical coordinates which are geographical coordinates corresponding to the current position;
Map coordinates that are coordinates on the map image corresponding to the geographic coordinates acquired in the position acquisition step are specified, and coordinate correspondence information that associates the geographic coordinates with the map coordinates is added to a predetermined storage unit and stored. An association process;
When displaying the current position on the map image based on the geographical coordinates acquired in the position acquisition step, the map image is used by using a plurality of coordinate correspondence information stored in the predetermined storage means at that time. A position display step of specifying and displaying map coordinates corresponding to the acquired geographic coordinates after correcting the partial distortion of
In the position acquisition step, when imaging is performed at the position of the subject corresponding to any of the symbols shown on the map image by the imaging step, the geographical coordinates of the shooting point are acquired,
The associating step specifies the map coordinates corresponding to the symbol on the map image existing at a position closer to the geographical coordinates of the shooting point acquired in the position acquiring step, and associates the map coordinates with the geographical coordinates. Correspondence information is added to the predetermined storage means and stored. Map display computer,
An imaging means for imaging in accordance with an imaging instruction;
Image capture means for capturing map images,
Image display means for displaying a map image captured by the image capture means;
Coordinate correspondence information storage means for storing coordinate correspondence information for associating geographic coordinates as geographical coordinates with map coordinates as coordinates on the map image in association with each of a plurality of different geographical coordinates;
Position acquisition means for acquiring geographical coordinates corresponding to the current position;
An association for specifying map coordinates on the map image corresponding to the geographic coordinates acquired by the position acquisition means, and adding and storing coordinate correspondence information for associating the geographic coordinates with the map coordinates in the coordinate correspondence information storage means means,
When the current position is displayed on the map image based on the geographical coordinates acquired by the position acquisition means, the map is obtained using a plurality of coordinate correspondence information stored in the coordinate correspondence information storage means at that time. After correcting the partial distortion of the image, it functions as a position display means for specifying and displaying the map coordinates corresponding to the acquired geographic coordinates,
The position acquisition means acquires the geographical coordinates of the shooting point when imaging is performed at the position of the subject corresponding to any of the symbols shown on the map image by the imaging means,
The associating means specifies the map coordinates corresponding to the symbol on the map image that is present at a position closer to the geographical coordinates of the shooting point acquired by the position acquiring means , and coordinates for associating the map coordinates with the geographical coordinates Correspondence information is added to the coordinate correspondence information storage means and stored.

Images