JP7246829B2 - Mobile position measurement system - Google Patents

Description

The present invention relates to a position measuring system for a moving object using image data of a moving object captured by an imaging device, and more particularly to a position measuring system for an unspecified moving object.

GNSS (Global Navigation Satellite System) is a representative technology for identifying positions, and recently, quasi-zenith satellites have been prepared, and GPS signals from satellites that are always overhead are used to measure positions with high accuracy. be. In addition, there is also a technology that prepares multiple Bluetooth/Wifi devices and identifies the location by observing the attenuation of the signals communicating with those devices. There is also a technology that uses camera images to perform image processing and identify positions. For example, there is a technique of specifying the position of a moving object by identifying a moving object with an identification mark attached thereto by using a camera image, and communicating position information to the moving object, instructing a travel route, and the like.

For example, Patent Document 1 discloses a vehicle position detection device that recognizes a specific index from image data obtained by imaging the surroundings of a vehicle, and determines the position of the vehicle using position information associated with the recognized index. disclosed. Patent Literature 2 discloses a system that obtains the position of a mobile robot in real time from an image captured by a camera in an indoor space. Patent document 3 specifies the position of a mobile object from image data captured by an imaging camera that captures a space in which a plurality of mobile objects move, sets a route from the specified position to a goal position, Disclosed is a mobile object movement control system that controls traveling of a mobile object along a route of each.

JP 2007-10335 A JP 2018-14064 A International publication WO2002/023297

Positioning using GNSS has the problem that the accuracy of positioning is significantly degraded in environments such as tunnels and indoors where there is no overhead space. In addition, Bluetooth (Ibeacon)/Wifi devices have limited installation locations and communication ranges, and cannot be expected to be very accurate.

Further, Patent Documents 1 to 3 measure a position using an imaging camera, but Patent Document 1 receives an image captured by a camera installed on the road (fourth embodiment). Therefore, there is a limit to how many cameras can be installed, and the cost is high. In Patent Documents 2 and 3, an image of a mobile object captured by a camera is processed to specify the position, and the measured position is communicated to the mobile object. There is a problem that it is impossible to specify the position of a moving object whose identification information is not recognized in advance.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-described conventional problems and to provide a mobile object position measurement system capable of accurately measuring the position of an unspecified mobile object using image data captured by an imaging camera. aim.

A mobile object positioning system according to the present invention includes a position measuring device including at least one imaging camera for imaging a mobile object; an electronic device having a function of receiving position information from a position measuring device, wherein the position measuring device includes calculating means for calculating the position of the moving object based on image data captured by the imaging camera; storage means for storing history information of the position of the mobile body calculated by means; identification means for identifying history information corresponding to the identification information from the mobile body; and position information to the mobile body based on the identified history information. and transmission means for transmitting.

In one embodiment, it includes mobile movement information. In one embodiment, the movement information includes information representing a change in position of the mobile body. In one embodiment, the identification information includes appearance information of the mobile object. In one embodiment, the exterior information includes a vehicle number or body color. In one embodiment, the identification information includes address information for receiving information addressed to the station. In one embodiment, the calculating means transforms the coordinates of the moving object in the image data into a position including latitude and longitude. In one embodiment, the calculation means corrects an error in the coordinates of the moving object according to the position of the moving object in the image data. In one embodiment, the imaging camera is installed at a predetermined position to capture an image of a predetermined space, and the position measuring device receives image data from the imaging camera by wireless communication. In one embodiment, the position measuring device is a server connected to the imaging camera and the electronic device via a network. In one embodiment, the imaging camera images an intersection. In one embodiment, the imaging camera images an office space. In one embodiment, the electronic device is an in-vehicle device mounted in a vehicle. In one embodiment, the electronic device is a mobile terminal. In one embodiment, the electronic device comprises output means for outputting position information received from the position measuring device.

According to the present invention, the position of a mobile object is calculated based on image data captured by an imaging camera, the history information of the calculated position is stored, the history information corresponding to the identification information from the mobile object is identified, Since the location information is transmitted to the mobile object based on the identified history information, it is possible to measure the location of unspecified mobile objects that have not been specified in advance and provide more accurate location information to the mobile objects. become.

1 is a diagram showing the configuration of a position measurement system according to an embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of an in-vehicle device according to an embodiment of the present invention; FIG. It is a figure which shows the functional structure of the positional information acquisition program based on the Example of this invention. It is an operation flow of a position information acquisition program of the present embodiment. It is a block diagram showing the configuration of a server according to an embodiment of the present invention. 4 is a block diagram showing the functional configuration of the control unit of the server according to the embodiment of the present invention; FIG. It is a flow which shows the position measurement operation|movement of the server of a present Example. It is a figure explaining operation|movement of the coordinate transformation part of a present Example. It is a figure which shows an example of the position (latitude, longitude) obtained by the coordinate conversion part of a present Example. FIG. 5 is a diagram illustrating sharing of position information by a coordinate transformation unit according to an embodiment of the present invention; It is a figure explaining the error correction of the coordinate conversion part by the Example of this invention. It is a figure explaining calibration of the coordinate transformation part by the Example of this invention. It is a figure explaining operation|movement of the position measurement system of the mobile by the Example of this invention. FIG. 4 is a diagram illustrating a method of associating features of a moving object and features of an image-recognized moving object according to an embodiment of the present invention; FIG. 4 is a diagram showing the configuration of a position measurement system according to another embodiment of the present invention; FIG. 10 is a diagram showing the configuration of a mobile terminal device according to another embodiment of the present invention; FIG. 7 is a diagram showing an operation flow of a mobile terminal device according to another embodiment of the present invention; FIG. 5 is a diagram illustrating an operational flow of a location server according to another embodiment of the present invention;

Next, an embodiment of the invention will be described. A position measuring system for a mobile object according to the present invention includes an electronic device mounted on the mobile object and a position measuring device for measuring the position of the mobile object. The electronic device can be a computer device, a sophisticated mobile phone terminal represented by a smart phone, a portable terminal, or an in-vehicle device with navigation/audio/visual functions. In one embodiment, the localization device is a networked server that communicates data with the electronic device and imaging camera.

FIG. 1 is a diagram showing a schematic configuration of a mobile position measurement system according to an embodiment of the present invention. The mobile object localization system 10 of the present embodiment includes an on-vehicle device 100 mounted on various vehicles M1, M2, and M3, and one or more devices installed at predetermined positions for imaging a predetermined space. imaging cameras 200 (200_1 to 200_4), and a position measurement server 300 connected to the in-vehicle device 100 and the imaging cameras 200 via a network such as the Internet.

The position measurement system 10 of the present embodiment analyzes the image data of the vehicle captured by the imaging camera 200 to calculate the position of the vehicle. is collated, history information corresponding to the identification information is identified, location information is transmitted to the vehicle based on the identified history information, and the location of an unspecified vehicle can be measured. In addition, the position measurement system 10 of the present embodiment monitors the vehicle by the imaging camera, associates the image-recognized vehicle with the actual vehicle, and transmits the image-recognized position of the vehicle to the actual vehicle. Therefore, for example, it is possible to provide highly accurate position information to a vehicle in which the positioning environment is not favorable.

As shown in FIG. 1, the imaging camera 200 is, for example, one or a plurality of fixed-point cameras or security cameras installed in structures such as buildings, parking lots, traffic lights, etc. For example, vehicles traveling in an intersection area is imaged. The imaging camera 200 is equipped with a communication module for communicating with the positioning server 300 , and the imaging camera 200 transmits captured image data to the positioning server 300 via the communication module.

The communication module transmits the image data to the positioning server 300 according to a predetermined transmission format. The transmission format includes, for example, a destination address of the location measurement server 300, an imaging camera ID for identifying the imaging camera 200, an imaging time, etc. as header information, and image data as body information. The image capturing camera 200 generates image data consisting of, for example, 30 or 60 frames per second, compresses such image data, and transmits the compressed image data to the location server 300 almost in real time with the image capturing time. Any image data compression method may be used.

In some embodiments, the imaging camera 200 may also include a control module that controls the operation of the imaging camera 200 in response to remote instructions from the localization server 300 . The position measurement server 300 , for example, instructs the imaging camera 200 to start and stop imaging, and adjusts the imaging direction via the actuator of the imaging camera 200 .

FIG. 2 shows the internal configuration of the in-vehicle device 100 of this embodiment. The in-vehicle device 100 includes a communication unit 110 that communicates with the location measurement server 300, a display unit 120, a storage unit 130 that stores map data for navigation and other necessary data, and a GPS signal for detecting the absolute position of the vehicle. , an acceleration/angular velocity sensor 150 for detecting the relative direction of the vehicle, and a control section 160 for controlling each section including the navigation function. Note that the configuration of the in-vehicle device 100 shown here is an example, and the in-vehicle device 100 can further include a function of reproducing audio signals and video signals, a function of receiving television broadcasts and radio broadcasts, and the like.

The control unit 160 includes, for example, a microcontroller and a microprocessor including ROM/RAM, etc., and controls each unit by executing a software program stored in the ROM. In this embodiment, the control unit 160, in addition to the program for controlling the navigation operation, transmits the identification information of the own vehicle to the positioning server 300 and receives the positional information from the positioning server 300. Execute. The position information acquisition program may be executed independently, or may be executed in conjunction with the navigation program when it is executed.

FIG. 3 is a block diagram showing the functional configuration of the positional information acquisition program. The position information acquisition program 170 of this embodiment includes a vehicle position detection unit 172 that detects the vehicle position, a measurement area determination unit 174 that determines whether the vehicle has entered the measurement area of the position measurement system 10, an identification information transmitting unit 176 that transmits identification information of the own vehicle to the positioning server 300 when it is determined that the vehicle is within the measurement area; a position information receiving unit 178 that receives the position information of the own vehicle from the positioning server 300; and a vehicle position correction unit 180 for correcting the vehicle position detected by the in-vehicle device 100 based on the received position information. The corrected vehicle position is displayed on the display unit 120 or used for navigation.

The vehicle position detector 172 detects the vehicle position based on the GPS signal received by the GPS receiver 140 and/or the detection result of the acceleration/angular velocity sensor 150 . The vehicle position detector 172 detects the current vehicle position at regular time intervals.

The measurement area determination unit 174 determines whether or not the vehicle position detected by the vehicle position detection unit 172 has entered the measurement area. The measurement area is, for example, an area where high-rise buildings and the like tend to cause multipath of GPS signals, an area where GPS satellite positioning is difficult, that is, an area where the vehicle-positioning accuracy of the vehicle-mounted device 100 deteriorates. Positional coordinates of such a measurement area are set in advance. Also, the measurement area may be set in association with road map data used for navigation. For example, it is an urban area where skyscrapers stand side by side and an area including a specific road.

When the measurement area determination unit 174 determines that the vehicle has entered the measurement area, the identification information transmission unit 176 transmits the identification information of the vehicle to the location server 300 . The identification information of the own vehicle includes the own vehicle ID that identifies the own vehicle, the address addressed to the own station when receiving the position information from the location measurement server 300, the movement information that can identify the movement of the own vehicle, and the appearance of the own vehicle. It can contain possible appearance information. The movement information of the own vehicle includes the amount of change over time such as position, speed, direction, movement vector, and the like. The speed of the vehicle is calculated, for example, from changes in the vehicle position per unit time detected by the vehicle position detector 172, or from vehicle speed pulses output from a vehicle speed sensor. The azimuth is calculated from the change in position measured by GPS and the detection result of the acceleration/angle sensor 150 . Movement information is calculated while the own vehicle is traveling within the measurement area. The external appearance information is information such as the characteristics of the appearance shape of the own vehicle, the color of the own vehicle, the license plate of the own vehicle, etc. These are stored in advance in the storage unit 130 and read out therefrom.

The identification information transmission unit 176 transmits the identification information to the location measurement server 300 at regular intervals while the own vehicle is traveling within the measurement area. The identification information is used in the location server 300 to identify vehicle travel in the image data.

The position information receiving unit 178 receives position information of the own vehicle measured by the position measurement server 300 . The position information includes the vehicle position and its time. The vehicle position correction unit 180 calculates the vehicle position based on the received position information, and corrects the vehicle position detected by the in-vehicle device 100 . The corrected vehicle position is not affected by GPS signal multipaths and the like, and therefore has higher accuracy than the vehicle position detected by the in-vehicle device 100 .

FIG. 4 shows the operation flow of the position information acquisition program of this embodiment. The measurement area determination unit 174 determines whether or not the vehicle has entered the measurable area (S100). appearance information, etc.) to the location measurement server 300 (S102). After that, the position information receiving unit 178 monitors whether or not the position information of the vehicle (the vehicle position and the time at that time) has been received from the position measurement server 300 (S104). The vehicle position is calculated by the vehicle position correction unit 180, and the vehicle position detected by the in-vehicle device 100 is corrected or corrected (S106). This corrected vehicle position is displayed on the road map screen of the display unit 120, for example.

FIG. 5 shows the configuration of the location measurement server of this embodiment. The position measurement server 300 includes an image data receiving unit 310 that receives image data from the imaging camera 200 , a communication unit 320 that communicates with the in-vehicle device 100 , a control unit 330 that controls each unit, and a storage unit 340 for storing image data, identification information from the vehicle, and the like.

As shown in FIG. 1, the image data receiving unit 310 receives, via a network or the like, image data captured by an imaging camera installed at a building such as an intersection or at a traffic light. The received image data is provided to the control unit 330 . As described above, the communication unit 320 receives the identification information of the vehicle from the vehicle entering the measurement area and transmits the position information to the vehicle.

A functional configuration of the control unit 330 is shown in FIG. The control unit 330 recognizes the vehicle of the image data acquired from the identification information receiving unit 350 and the image data receiving unit 320 that receive the identification information from the vehicle via the communication unit 320, and converts the coordinates of the recognized vehicle into the position ( latitude and longitude), a history information storage unit 354 that stores history information of the position of the vehicle converted by the coordinate transformation unit 352 in the storage unit 340, and the identification information and the history information are collated. , a history information identification unit 356 for identifying history information corresponding to the identification information, and a position information transmission unit 358 for transmitting position information (vehicle position and time) to the vehicle based on the identified history information.

The identification information receiving unit 350 receives identification information from various vehicles traveling within the measurement area, classifies the received identification information by vehicle ID, for example, based on the vehicle ID included in the identification information, and holds the classified information.

The coordinate transformation unit 352 acquires image data transmitted from one or more imaging cameras 200, and decompresses the image data if the image data is compressed. Then, the image data is classified for each imaging camera ID based on the imaging camera ID included in the image data.

The image data transmitted by the imaging camera 200 is composed of a plurality of still image frames per unit time. Recognize and calculate the position of the recognized vehicle. The calculation of the position is performed by converting the two-dimensional coordinates of the imaging space imaged by the imaging camera 200 into the real space position (latitude, longitude).

For example, as shown in FIG. 8A, when the image data is images of vehicles M1, M2, M3, and M4, the coordinate conversion unit 352 converts the vehicles M1 to M4 into rectangular recognition areas P1 to P1 through image recognition processing. Cut out at P4. Next, as shown in FIG. 8C, using a change table for converting the coordinates of each grid in the frame image into latitude/longitude positions, predetermined conversion points ( For example, convert the midpoint of the base of a rectangle) to a latitude/longitude position. If no coordinates match the transformation point, the closest coordinates are used. The spacing or coarseness of the coordinates of the grid can be selected as appropriate. Thus, in each frame image, the latitude/longitude positions of the vehicles M1 to M4 are sequentially calculated in time series. For example, as shown in FIG. 9, the positional information that pairs the time and latitude/longitude of the vehicle M3 is calculated from the image data.

Moreover, when one space is imaged by a plurality of imaging cameras, the same vehicle may be imaged by the plurality of imaging cameras. In such a case, if the latitude/longitude of the vehicle calculated from the image data of each imaging camera and the movement vector are the same, a shared function is provided to regard each vehicle as the same. For example, as shown in FIG. 10, a vehicle M3 is imaged by imaging cameras 200_1 and 200_2, and as a result, the same coordinates are calculated at the same time by the coordinate conversion unit 352, and the movement vector (positional difference) is If equal, the two location information are merged into one as common.

Furthermore, the coordinate conversion unit 352 can have a function of correcting errors when calculating the latitude/longitude of the vehicle. As shown in FIG. 11A, in the image data captured by the image capturing camera, the error increases as the object moves away from the image capturing camera. As shown in FIG. 11B, when the recognition region P5 of a moving object such as a person is transformed at the transformation point Q5 (the middle point of the base of the rectangle), the depth direction of the person is not so large, so the error is small. When the recognition area P6 of the vehicle, which has a length in the depth direction, is converted at the conversion point Q6, the length is large, so the error becomes large. Therefore, the error can be calculated according to the latitude/longitude in the depth direction of the vehicle, and the estimated error can be added to the position information as shown in FIG. 11(C). Alternatively, if the height of the recognition area P6 in the Y direction is greater than or equal to a certain value, the conversion point Q6 may be converted at a conversion point Q7 that is offset in the Y direction. "1 m" and "1.2 m" are errors in the latitudinal direction.

Furthermore, the coordinate conversion unit 352 can have a function of correcting this error because an error occurs even when the mounting position of the imaging camera is moved due to wind, an earthquake, or the like. Specifically, a reference image is prepared by imaging a target on the ground whose position does not change (for example, a traffic light). , and corrects the received image data. For example, as shown in FIG. 12, first, a reference image R showing a traffic signal T that does not move is prepared, and the positional deviation between the traffic signal T in the reference image R and the traffic signal T in the received image data is confirmed. , to correct the deviation.

The history information storage unit 354 stores history information of position information of each vehicle calculated by the coordinate conversion unit 352 . That is, since the position information of each vehicle is calculated for each image frame by the coordinate conversion unit 352, the history information storage unit 354 stores this as history information. The time included in the position information can be determined based on the imaging time included in the image data from the imaging camera 200 or the time interval between image frames. In addition, the history information storage unit 354 associates vehicle appearance information (for example, vehicle color, license plate, and other appearance features) within the recognition area extracted by the coordinate conversion unit 352 with the vehicle history information. to save.

When the identification information is received by the identification information receiving unit 350, the history information identification unit 356 compares the identification information with the history information to identify the history information corresponding to the identification information. In one aspect, history information that matches vehicle movement information and appearance information included in the identification information is identified. For example, historical information having a motion vector that matches the motion vector of the vehicle included in the identifying information is identified. In another aspect, historical information having appearance information that matches the appearance information of the vehicle included in the identification information is identified.

The position information transmission unit 358 transmits position information (vehicle position and its time) based on the history information identified by the history information identification unit 356 to the in-vehicle device of the vehicle. Accordingly, the vehicle that has transmitted the identification information can obtain highly accurate location information measured by the location server 300 .

FIG. 7 is an operation flow of the control unit 330 of the location server 300. As shown in FIG. The coordinate conversion unit 352 performs image recognition of the vehicle captured in the image data from the imaging camera 200, calculates the latitude/longitude position of the image-recognized vehicle, and the history information storage unit 354 stores the calculated vehicle position. and time are saved as history information for each vehicle (S200). Next, the identification information receiving unit 350 monitors reception of the identification information, and when the identification information is received (S202), the history information identification unit 356 collates the identification information with the history information of each vehicle, The history information of the vehicle is searched (S204). If the corresponding history information can be identified (S206), the location information transmission unit 358 transmits the identified location information to the address of the in-vehicle device included in the identification information (S208).

Next, the overall operation of the mobile body position measurement system of this embodiment will be described. FIG. 13 is a diagram illustrating transmission and reception of data between the location server 300 and the in-vehicle device 100. As shown in FIG. First, when the vehicle enters the measurable area of the positioning system, the in-vehicle device 100 transmits identification information characteristic of the own vehicle to the positioning server 300 . For example, the vehicle's color and license plate are transmitted as appearance features, and time-series difference information is transmitted as movement information.

FIG. 14 shows an example of more detailed identification information. The time-series difference transition is calculated from the difference between the time and coordinates detected by the self-contained navigation sensor (acceleration/angular velocity sensor), and the time and the difference "4 m" at that time are transmitted to the position measurement server 300 as movement information. Note that the time-series difference information can also be calculated from the vehicle speed pulse. In addition, the vehicle color “red” and the license plate “8275” are transmitted to the location server 300 as vehicle appearance identification information. Appearance information is stored in advance in the storage unit.

On the other hand, by analyzing the image data captured by the imaging camera 200, the color and number of the vehicle are recognized. The features from the image recognition and the appearance features of the identification information are compared to identify the identity of the vehicle on the image data and the actual vehicle. Also, a time-series difference transition of coordinates (latitude/longitude) obtained from image recognition is calculated and compared with the movement information of the identification information to identify the identity of the two.

Returning to FIG. 13 , the location server 300 transmits location information corresponding to identification information to the in-vehicle device 100 . The in-vehicle device 100 corrects the own vehicle position obtained by self-contained navigation based on the received high-precision position information, uses the received position information for navigation, and displays it on the display unit 120 . As described above, according to this embodiment, it is possible to accurately measure the position of an unspecified vehicle that is not linked to the position measurement system 10 in an area where the GPS signal positioning environment is not favorable. Also, the higher the resolution of the imaging camera, the more accurately the position of the moving object can be measured. Furthermore, if the number of imaging cameras is large, the accuracy of position measurement is improved, and a wide area can be measured.

Another embodiment of the present invention will now be described. In the above embodiment, an example of measuring the position of a vehicle as a mobile object was shown, but in this example, the position of a mobile terminal device (for example, a smart phone) is measured as the mobile object.

FIG. 15 shows an overview of the mobile body position measurement system 10A of this example. Here, the multiple imaging cameras 200_1 and 200_2 are installed at arbitrary positions so as to capture images of the office space. A plurality of persons U1 and U2 move in the office space while carrying the mobile terminal device 400, the situation is captured by the imaging camera 200, and the captured image data is sequentially uploaded to the position measurement server 300. On the other hand, each mobile terminal device 400 possessed by a plurality of persons U1 and U2 transmits identification information to the positioning server 300 and receives position information measured by the positioning server 300. FIG.

FIG. 16 shows an example of the internal configuration of the mobile terminal device 400. As shown in FIG. Mobile terminal device 400 includes communication unit 410 that communicates with location server 300 , display unit 420 , storage unit 430 , acceleration/angular velocity sensor 440 , and control unit 450 . The control unit 450 executes the position information acquisition program as in the above-described embodiments.

FIG. 17 shows the operation flow of the position information acquisition program. It is determined whether or not the person U1, U2 or the mobile terminal device 400 enters the measurable area of the positioning system (S300). Position information detected by the self-contained navigation sensor of the acceleration/angular velocity sensor 440 is used for this determination. Alternatively, it may be determined that the persons U1 and U2 have entered by operating the portable terminal devices.

Next, when the person U1, U2 or the mobile terminal device 400 enters the measurement area, the mobile terminal device 400 transmits identification information to the location server 300 (S302). The identification information includes movement information and appearance information of the mobile terminal device 400, as in the above-described embodiments. However, the appearance information here is information representing characteristics of a person, such as the color of the person's clothes. When the mobile terminal device 400 receives the location information (terminal location and its time) from the location server 300 (S304), the mobile terminal device 400 calculates the terminal location based on the location information and displays it (S306).

FIG. 18 is a diagram showing an operational flow of the server 300. As shown in FIG. The operation of steps S400 to S408 of server 300 is substantially the same as the operation shown in FIG. 7 described above. to send.

As described above, according to the present embodiment, when the mobile unit is equipped with a GPS function, even in an area where GPS signals cannot be received, if network communication with the server is possible, a highly accurate position can be obtained from the server. information can be obtained. Moreover, even if the mobile body does not have a device for specifying a position such as GPS, the present invention can be used as long as the mobile body has a communication function. Furthermore, by reviewing the position, performance, and number of imaging cameras, it is possible to construct a flexible position measurement system configuration. Furthermore, since the accuracy of position measurement itself is determined by image recognition, there is little deterioration in accuracy due to disturbances. Furthermore, by using it in an area where GPS accuracy cannot be obtained, it is possible to provide supplementary information for increasing position accuracy. Furthermore, it is possible to measure the position of a moving object for which the imaging camera does not have information.

Examples of applications of the present invention include improving the accuracy of identifying the location of in-vehicle devices (supplementary information for automatic driving), improving the accuracy of identifying the location of mobile devices carried by pedestrians, and monitoring the movement of office employees (who is where? ), dynamic monitoring of employees in factories (visualization of murimdamura), prevention of erroneous start operation by linking with surveillance cameras at convenience stores, prevention of accidents when children are in front of the house by installing it in the garage of the house, parking lot This includes guidance support (especially location identification for areas where GPS cannot reach, such as underground parking lots), location display within floors of huge shopping malls, moving object monitoring and automatic driving correction at driving schools, and so on.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to specific embodiments, and various modifications, Change is possible.

10: Position measurement system 100: In-vehicle device 110: Communication unit 120: Display unit 130: Storage unit 140: GPS reception unit 150: Acceleration/angular velocity sensor 160: Control unit 200: Imaging camera 300: Position measurement server 310: Image data reception Unit 320: Communication unit 330: Control unit 340 Storage units M1 to M4: Vehicles P1 to P5: Recognition area

Claims (14)

a position measuring device including at least one imaging camera that images a moving object;
an electronic device mounted on a mobile body and capable of communicating with the position measuring device;
The electronic device
a position detection means for detecting the position of the moving body;
determination means for determining whether or not the vehicle has entered a predetermined measurement area based on the position detected by the position detection means;
a transmitting means for transmitting identification information including movement information of the moving body based on the position detecting means and appearance information of the moving body to the position measuring device when it is determined that the measuring area has been entered;
receiving means for receiving location information from the location measuring device;
correction means for correcting the position detected by the position detection means based on the position information received by the reception means;
The position measuring device is
a calculation means for receiving image data captured by the imaging camera, recognizing a moving object in the image data, and calculating position information and appearance information of the recognized moving object as history information;
a storage means for storing history information of a plurality of moving objects calculated by the calculation means;
identification means for comparing movement information and appearance information of the identification information with position information and appearance information of the history information to identify history information corresponding to the identification information;
and transmitting means for transmitting to the mobile body location information based on the identified history information. 2. The position measurement system according to claim 1, wherein said measurement area is an area where positioning accuracy by GPS positioning deteriorates, and said movement information is detected by a self-contained navigation sensor included in said position detection means. 2. The position measurement system according to claim 1, wherein said movement information includes time-series difference information of a moving object. The appearance information of the mobile object included in the identification information includes the vehicle license plate number and the color of the vehicle body, and the appearance information of the mobile object included in the history information includes the license plate number and the color of the vehicle body recognized from the image data. 2. The position measurement system of claim 1, comprising: 2. The location measurement system according to claim 1, wherein said identification information further includes an address addressed to itself, and said transmission means transmits said location information based on said address. The calculation means cuts out a moving object in the image data in a rectangular recognition area, and converts the cut out rectangular coordinates into a position including latitude and longitude in order to calculate position information of the moving object. 2. The position measurement system of claim 1, comprising: 7. The position measurement system according to claim 6, wherein said calculation means calculates an error according to the latitude or longitude of said rectangular recognition area, and adds the calculated error to said position information. The calculation means utilizes a reference image in which a target object whose position does not change is captured, and calculates the image data based on the difference between the target object shown in the reference image and the target object shown in the image data. 2. The measurement system of claim 1, wherein the position of the is corrected. 2. The position measurement system according to claim 1, wherein said imaging camera is installed at a predetermined position and images a predetermined space, and said position measurement device receives image data from said imaging camera by wireless communication. . The position measurement system according to claim 1, wherein the position measurement device is a server connected to the imaging camera and the electronic device via a network. 10. The position determination system of claim 9, wherein the imaging camera images an intersection. The position measurement system according to claim 1, wherein the electronic device is an on-vehicle device mounted on a vehicle. 2. The positioning system of claim 1, wherein the electronic device is a handheld terminal. 2. The position measurement system of claim 1, wherein the electronic device includes output means for outputting position information received from the position measurement device.

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