WO2023032769A1 - 位置推定システム、及び、位置推定方法 - Google Patents
位置推定システム、及び、位置推定方法 Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 345
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- 230000010365 information processing Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 17
- 238000012545 processing Methods 0.000 description 14
- 238000001514 detection method Methods 0.000 description 10
- 238000010801 machine learning Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 239000000470 constituent Substances 0.000 description 4
- 238000013135 deep learning Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Definitions
- the present invention relates to a position estimation system and a position estimation method.
- Patent Document 1 discloses a location information acquisition system that eliminates the need for user input operations and is excellent in terms of cost.
- the present invention provides a position estimation system and position estimation method capable of estimating the coordinates of an object in a given space.
- a position estimation system includes an acquisition unit that acquires either image information of an image showing a space in which a person is located or temperature distribution information of the space; an estimating unit for estimating the coordinates of the person in the space based on the first a position information acquisition unit that acquires position information of the first communication device from a positioning system that measures the position of the communication device, wherein the estimation unit acquires the estimated coordinates of the person and the acquired position information. estimating the coordinates of the target first communication device held by the person based on the communication state between the third communication device held by the object other than the person and the target first communication device, and the estimation estimating the coordinates of the object in the space based on the obtained coordinates of the target first communication device;
- a position estimating method includes an obtaining step of obtaining either image information of an image showing a space in which a person is located or temperature distribution information of the space; a first estimating step of estimating the coordinates of the person in the space based on said a location information acquisition step of acquiring location information of the first communication device from a positioning system that measures the location of the first communication device; and based on the estimated coordinates of the person and the acquired location information, the a second estimating step of estimating the coordinates of a target first communication device held by a person; a communication state between a third communication device held by an object other than the person and the target first communication device; and a third estimating step of estimating the coordinates of the object in the space based on the obtained coordinates of the target first communication device.
- a program according to one aspect of the present invention is a program for causing a computer to execute the position estimation method.
- the position estimation system and position estimation method of the present invention can estimate the coordinates of an object in a given space.
- FIG. 1 is a block diagram showing a functional configuration of a position estimation system according to Embodiment 1.
- FIG. FIG. 2 is a diagram showing an indoor space to which the position estimation system according to Embodiment 1 is applied.
- FIG. 3 is a flowchart of an example 1 of operation for estimating the coordinates of the first communication device.
- FIG. 4 is a diagram schematically showing a plurality of pieces of position information.
- FIG. 5 is a flowchart of an example 1 of an operation for estimating the coordinates of an object.
- FIG. 6 is a flow chart of an estimation operation example 2 of coordinates of an object.
- FIG. 7 is a block diagram showing a functional configuration of a position estimation system according to Embodiment 2.
- FIG. 8 is a diagram showing an indoor space to which the position estimation system according to Embodiment 2 is applied.
- FIG. 9 is a diagram schematically showing a thermal image.
- FIG. 10 is a flow chart of an example 2 of operation for estimating the coordinates of the first communication device.
- FIG. 11 is a block diagram showing the functional configuration of the positioning system according to the modification.
- FIG. 12 is a diagram showing an indoor space to which the positioning system according to the modification is applied.
- each figure is a schematic diagram and is not necessarily strictly illustrated. Moreover, in each figure, the same code
- FIG. 1 is a block diagram showing a functional configuration of a position estimation system according to Embodiment 1.
- FIG. 2 is a diagram showing an indoor space to which the position estimation system according to Embodiment 1 is applied.
- the position estimation system 10 is a system that acquires image information of an image of the indoor space 60 output by the camera 20 and estimates the coordinates of an object among the objects positioned in the indoor space 60 based on the acquired image information.
- the indoor space 60 is, for example, an office space, but may be a space in a commercial facility or an indoor space in other facilities such as a space in a house.
- the object (object) is, for example, a living organism such as person A and person B, but may be a tangible object (an object other than a person; for example, a non-living object) such as chair C.
- the position estimation system 10 includes a camera 20, a server device 30, a positioning system 40, and a third communication device 50. Note that the position estimation system 10 may include multiple cameras 20 .
- the camera 20 is installed, for example, on the ceiling of the indoor space 60, and images the indoor space 60 from above. Also, the camera 20 transmits image information of the captured image to the server device 30 .
- An image captured by the camera 20 is, for example, a still image.
- the camera 20 may capture a moving image, and the image captured by the camera 20 in this case is, for example, a still image corresponding to one frame forming the moving image.
- Camera 20 is implemented by, for example, an image sensor.
- the camera 20 is detachably connected to, for example, a power supply terminal of a lighting device 22 installed on the ceiling of an indoor space 60, and receives power from the lighting device 22 to operate.
- the power supply terminal is, for example, a USB (Universal Serial Bus) terminal.
- the camera 20 may be fixed directly to the ceiling of the indoor space 60 without the illumination device 22 interposed therebetween. Alternatively, the camera 20 may be fixed to a wall or the like to capture an image of the indoor space 60 from the side.
- the server device 30 acquires the image information generated by the camera 20, and estimates the coordinates of the object located in the indoor space 60 based on the acquired image information.
- the server device 30 is an edge computer provided in a facility (building) forming the indoor space 60, but may be a cloud computer provided outside the facility.
- the server device 30 includes a communication section 31 , an information processing section 32 and a storage section 33 .
- the communication unit 31 is a communication module (communication circuit) for the server device 30 to communicate with the camera 20 and the positioning system 40 (specifically, the first communication device 41 and the positioning server device 43).
- the communication unit 31 receives image information from the camera 20, for example. Also, the communication unit 31 receives position information of an object located in the indoor space 60 from the positioning system 40 .
- the communication performed by the communication unit 31 may be wireless communication or wired communication.
- the communication standard used for communication is also not particularly limited.
- the information processing section 32 acquires the image information received by the communication section 31 and performs information processing for estimating the coordinates of the object located in the indoor space 60 based on the acquired image information.
- the information processing section 32 is specifically realized by a processor or a microcomputer.
- the information processing section 32 includes an acquisition section 34 , an estimation section 35 and a position information acquisition section 36 .
- the functions of the acquisition unit 34 , the estimation unit 35 , and the position information acquisition unit 36 are realized by the processor or microcomputer constituting the information processing unit 32 executing computer programs stored in the storage unit 33 . Details of the functions of the acquisition unit 34, the estimation unit 35, and the position information acquisition unit 36 will be described later.
- the storage unit 33 is a storage device that stores image information and position information received by the communication unit 31, computer programs executed by the information processing unit 32, and the like.
- the storage unit 33 also stores a machine learning model, which will be described later, and the like.
- the storage unit 33 is implemented by a semiconductor memory, HDD (Hard Disk Drive), or the like.
- the positioning system 40 determines the position of the first communication device 41 in the indoor space 60 based on the state of communication between the first communication device 41 located in the indoor space 60 and each of the plurality of second communication devices 42 installed in the indoor space 60. to measure
- the positioning system 40 includes a plurality of first communication devices 41 , a plurality of second communication devices 42 and a positioning server device 43 . Note that the positioning system 40 may include at least one first communication device 41 .
- the first communication device 41 is a beacon receiver (scanner) that receives beacon signals transmitted by each of the plurality of second communication devices 42 .
- the first communication device 41 measures the received signal strength indicator (RSSI) of the received beacon signal, and adds the second identification of the second communication device 42 included in the beacon signal to the measured received signal strength.
- Information and signal strength information associated with the first identification information of the first communication device 41 itself are transmitted to the positioning server device 43 .
- the first communication device 41 is, for example, a portable information terminal (such as a smart phone) capable of operating as a beacon receiver, but may be a dedicated beacon receiver. As shown in FIG. 2, first communication device 41 is held by a person located in indoor space 60 . As will be described later, the first communication device 41 also functions as a beacon receiver that receives beacon signals transmitted by the third communication device 50 .
- the second communication device 42 is a beacon transmitter that transmits beacon signals.
- the beacon signal includes second identification information of the second communication device 42 .
- the second communication device 42 is, for example, detachably connected to a power supply terminal of the lighting device 22 installed on the ceiling of the indoor space 60, and operates by receiving power from the lighting device 22. .
- the power supply terminal is, for example, a USB terminal.
- the second communication device 42 may be fixed directly to the ceiling of the indoor space 60 without the lighting device 22 interposed therebetween. Also, the second communication device 42 may be fixed to a wall or the like.
- the plurality of second communication devices 42 are two-dimensionally distributed when viewed from above. The arrangement (installation position) of the plurality of second communication devices 42 is stored in advance in the storage unit 46 as arrangement information.
- the positioning server device 43 acquires a plurality of pieces of signal strength information corresponding to a plurality of second communication devices 42 from the first communication device 41, and based on the acquired plurality of pieces of signal strength information, locates a first position located in the indoor space 60. Measure the position of one communication device 41 .
- the positioning server device 43 is an edge computer provided in the facility (building) that constitutes the indoor space 60, but may be a cloud computer provided outside the facility.
- the positioning server device 43 includes a communication section 44 , an information processing section 45 and a storage section 46 .
- the communication unit 44 is a communication module (communication circuit) for the positioning server device 43 to communicate with the plurality of first communication devices 41 and the server device 30 .
- the communication unit 44 receives, for example, a plurality of pieces of signal strength information corresponding to the plurality of second communication devices 42 from each of the plurality of first communication devices 41 .
- the communication unit 44 transmits the position information of the object located in the indoor space 60 to the server device 30 .
- the communication performed by the communication unit 44 may be wireless communication or wired communication.
- the communication standard used for communication is also not particularly limited.
- the information processing unit 45 measures the position of the first communication device 41 based on a plurality of pieces of signal strength information received by the communication unit 44, and outputs position information indicating the measured position.
- the output position information is transmitted to the server device 30 by the communication unit 44 .
- the information processing unit 45 receives a plurality of signal strength information corresponding to the plurality of second communication devices 42 transmitted by the first communication device 41 possessed by the person A, and the plurality of second communication devices in the indoor space 60. 42, the position of the first communication device 41 is measured, and position information (that is, Position information of person A) is output. Any existing algorithm may be used as a method of measuring a position based on a plurality of pieces of signal strength information and arrangement information.
- the information processing section 45 is specifically realized by a processor or a microcomputer.
- the functions of the information processing section 45 are realized by executing a computer program stored in the storage section 46 by the processor or microcomputer constituting the information processing section 45 .
- the storage unit 46 is a storage device that stores signal strength information received by the communication unit 44, arrangement information indicating the arrangement of the plurality of second communication devices 42, computer programs executed by the information processing unit 45, and the like. .
- the storage unit 46 also stores registration information that indicates what kind of object the third identification information, which will be described later, specifically indicates.
- the storage unit 46 is specifically implemented by a semiconductor memory, HDD, or the like.
- the third communication device 50 is a beacon transmitter that transmits beacon signals.
- the third communication device 50 is, for example, a beacon transmitter specialized for transmitting beacon signals that does not have communication functions with the server device 30, the positioning server device 43, and the like.
- the third communication device 50 is held by a tangible object located in the indoor space 60 .
- the tangible object is specifically a chair C (shown in FIG. 2), but may be another article such as the lighting device 22 . It may be held by a person located in the indoor space 60 . In other words, the third communication device 50 may be held by an object.
- the beacon signal includes third identification information of the third communication device 50 .
- Example 1 of operation for estimating the coordinates of the first communication device uses the first communication device 41 (beacon reception machine) can be measured.
- the accuracy of the position of the first communication device 41 measured by the positioning system 40 may not be very high.
- the positioning system 40 cannot directly measure the position of a beacon transmitter such as the third communication device 50 .
- the position estimation system 10 uses both the image information of the image captured by the camera 20 and the position information of the first communication device 41 provided by the positioning system 40, so that the first communication device 41 can be detected with high accuracy. Estimate the position of An estimation operation example 1 of the position (coordinates) of the first communication device 41 will be described below.
- FIG. 3 is a flowchart of an example 1 of coordinate estimation operation of the first communication device 41 .
- the communication unit 31 of the server device 30 receives image information from the camera 20 (S11).
- the received image information is stored in the storage section 33 by the information processing section 32 .
- the image information is, for example, image information of an image when the indoor space 60 is viewed from above.
- the acquiring unit 34 acquires the image information received by the communication unit 31 and stored in the storage unit 33 (S12), and the estimating unit 35 calculates the indoor space 60 based on the acquired image information. Estimate the coordinates of the person in (S13).
- the estimating unit 35 performs object detection processing using deep learning (machine learning model) on image information (image), thereby estimating the position of a person in the image, and estimating the position of the person in the image. Convert to coordinates in the indoor space 60 .
- the estimation unit 35 performs object detection processing based on methods such as R-CNN (Region-Convolutional Neural Network), YOLO (You Only Look at Once), or SSD (Single Shot Multibox Detector).
- a machine learning model for performing these object detection processes is constructed using, for example, images obtained by imaging the indoor space 60 (or other indoor space) from above as learning data.
- the storage unit 33 stores table information indicating the correspondence relationship between the positions of pixels in the image and the coordinates in the indoor space 60.
- the estimation unit 35 uses such table information to obtain the The person's position in the interior space 60 can be transformed into the person's coordinates in the room space 60 .
- the coordinates of the position of the person estimated by the estimation unit 35 are two-dimensional coordinates when the indoor space 60 is viewed from above. .
- the communication unit 31 receives from the positioning server device 43 a plurality of pieces of position information each indicating the position of the first communication device 41 located in the indoor space 60 (S14).
- the received plurality of pieces of position information are stored in the storage unit 33 by the information processing unit 32 .
- FIG. 4 is a diagram schematically showing a plurality of pieces of position information.
- the first identification information of the first communication device 41 and the position (coordinates) of the first communication device 41 are associated with each of the plurality of pieces of position information.
- the position of the first communication device 41 is, for example, two-dimensional coordinates when the indoor space 60 is viewed from above.
- the location information acquisition unit 36 acquires a plurality of pieces of location information received by the communication unit 31 and stored in the storage unit 33 (S15).
- the estimating unit 35 selects the first communication device 41 closest to the estimated coordinates based on the acquired multiple pieces of position information as the first communication device 41 held by the person located at the coordinates estimated in step S13. (hereinafter also referred to as the target first communication device 41) (S16).
- the estimation unit 35 stores the first identification information included in the position information of the identified target first communication device 41 in the storage unit 33 as coordinate information in association with the coordinates estimated in step S13 ( S17).
- the coordinate information of the target first communication device 41 held by the person in the indoor space 60 is stored in the storage unit 33.
- the position estimation system 10 can highly accurately estimate the coordinates of the first communication device 41 held by a person based on the image information and the position information acquired from the positioning system 40. can.
- the estimation unit 35 performs object detection processing on the image information (image) acquired by the acquisition unit 34 to determine the coordinates of the person in the indoor space 60 was estimated.
- the estimation unit 35 may perform a process of dividing the image into regions.
- the estimation unit 35 may perform segmentation using deep learning (machine learning model).
- the estimating unit 35 can estimate the coordinates of the person in the indoor space 60 based on the position of the area in the image where the object is shown.
- a machine learning model for performing segmentation is constructed using, for example, images obtained by imaging the indoor space 60 (or other indoor space) from above as learning data.
- Example 1 of operation for estimating the coordinates of an object uses the estimated position of the target first communication device 41 to determine the coordinates of the third communication device 50 in the indoor space 60 (in other words, the coordinates of the object holding the third communication device 50). coordinates) can be estimated.
- FIG. 5 is a flowchart of an example 1 of an operation for estimating the coordinates of an object.
- the person holding the first communication device 41 moves, but the object holding the third communication device 50 does not move. done.
- the estimation unit 35 of the server device 30 estimates the coordinates of the target first communication device 41 (S21).
- the method of estimating the coordinates of the target first communication device 41 is as described with reference to FIG.
- the target first communication device 41 receives the beacon signal transmitted by the third communication device 50 and measures the received signal strength of the received beacon signal. In addition, the target first communication device 41 adds the third identification information of the third communication device 50 included in the beacon signal and the first identification information of the target first communication device 41 itself to the measured received signal strength. The associated signal strength information is transmitted to the positioning server device 43 .
- the communication unit 31 of the server device 30 receives the signal strength information from the target first communication device 41 (S22), and the acquisition unit 34 acquires the received signal strength information (S23).
- the estimating unit 35 determines that when the coordinates of the target first communication device 41 change, the target first communication device 41 It can be determined how the received signal strength of the received beacon signal varies. Therefore, the estimation unit 35 calculates the third The coordinates of the communication device 50, that is, the coordinates of the object holding the third communication device 50 are estimated (S24).
- the target first communication device 41 at time t1 and the target at time t2 and the target first communication device 41 at time t3 can be regarded as three beacon receivers whose coordinates are known and whose coordinates are different from each other.
- the process of step S24 is handled in the same manner as the process of estimating the coordinates of the beacon transmitter (third communication device 50) using three beacon receivers whose coordinates are known and which are different from each other. can be done.
- the position estimation system 10 can estimate the coordinates of the third communication device 50, that is, the coordinates of the object holding the third communication device 50.
- the multiple second communication devices 42 are beacon transmitters. Therefore, the positioning system 40 can measure the position of the first communication device 41 (beacon receiver), but cannot directly measure the position of the third communication device 50 (beacon transmitter).
- the position estimation system 10 based on the change in the communication state between the third communication device 50 and the target first communication device 41 in accordance with the change in the coordinates of the target first communication device 41, the third communication device The coordinates of the object holding 50 can be estimated. It should be noted that which third identification information specifically indicates what kind of object is registered in the storage unit 33 of the server device 30 in advance.
- the position estimation system 10 can It is possible to estimate where the newly installed lighting device 22 is installed in the indoor space 60 (that is, the coordinates of the newly installed lighting device 22).
- the coordinates of the object estimated by the position estimation system 10 are provided, for example, by the estimation unit 35 to an information terminal (not shown) such as a personal computer or a smartphone, and visualized by the information terminal. Thereby, the user viewing the display of the information terminal can easily grasp the position of the object in the indoor space 60 . If the object is a tangible object, it becomes easier to grasp the position of the tangible object and maintain the tangible object.
- the estimated coordinates of the object may be provided to a control device (not shown) that controls equipment such as an air conditioner.
- equipment such as an air conditioner.
- the controller can control the equipment based on the person's position in the indoor space 60 .
- Example 2 of operation for estimating the coordinates of an object Estimation of Object Coordinates
- the position estimation system 10 estimated the coordinates of an object holding the third communication device 50 by tracking changes in the coordinates of the first communication device 41 of one target.
- the position estimation system 10 can also estimate the coordinates of the object holding the third communication device 50 by estimating the coordinates of the plurality of target first communication devices 41 .
- FIG. 6 is a flow chart of an estimation operation example 2 of coordinates of an object.
- the estimation unit 35 of the server device 30 estimates the coordinates of each of the plurality of target first communication devices 41 located in the indoor space 60 (S31).
- the estimating unit 35 can estimate the coordinates of the first communication devices 41 of a plurality of targets by performing the operation (processing) of FIG. 3 on a plurality of people appearing in the image. That is, the plurality of target first communication devices 41 are held by different persons.
- the target first communication device 41 receives the beacon signal transmitted by the third communication device 50 and measures the received signal strength of the received beacon signal. In addition, the target first communication device 41 adds the third identification information of the third communication device 50 included in the beacon signal and the first identification information of the target first communication device 41 itself to the measured received signal strength. The associated signal strength information is transmitted to the positioning server device 43 .
- the communication unit 31 of the server device 30 receives the signal strength information from each of the plurality of target first communication devices 41 (S32), and the acquisition unit 34 acquires the received plurality of signal strength information (S33). .
- the estimating unit 35 calculates the coordinates of the third communication device 50, that is, the third communication
- the coordinates of the object holding the device 50 are estimated (S34).
- the coordinates of the beacon transmitter (the third communication device 50) are calculated using a plurality of beacon receivers (the plurality of target first communication devices 41) whose coordinates are known and the coordinates are different from each other. can be handled in the same way as the process of estimating If the number of first communication devices 41 whose coordinates are estimated in step S31 is three or more, the estimation unit 35 can estimate the coordinates of the third communication device 50 with high accuracy.
- the position estimation system 10 can estimate the coordinates of the third communication device 50, that is, the coordinates of the object holding the third communication device 50.
- the multiple second communication devices 42 are beacon transmitters. Therefore, the positioning system 40 can measure the position of the first communication device 41 (beacon receiver), but cannot directly measure the position of the third communication device 50 (beacon transmitter).
- the position estimation system 10 estimates the coordinates of each of the plurality of target first communication devices 41 held by different persons, and the communication between the third communication device 50 and each of the plurality of target first communication devices 41. Based on the state and the estimated coordinates of the plurality of target first communication devices 41, the coordinates of the object holding the third communication device 50 can be estimated.
- FIG. 7 is a block diagram showing a functional configuration of a position estimation system according to Embodiment 2.
- FIG. 8 is a diagram showing an indoor space 60 to which the position estimation system according to Embodiment 2 is applied.
- the position estimation system 10a acquires temperature distribution information indicating the temperature distribution of the indoor space 60 output by the infrared sensor 21, and based on the acquired temperature distribution information, coordinates of the object among the objects located in the indoor space 60. is a system for estimating
- the position estimation system 10a includes an infrared sensor 21, a server device 30, a positioning system 40, and a third communication device 50. That is, the position estimation system 10a includes an infrared sensor 21 instead of the camera 20. FIG. In addition, the position estimation system 10a may include a plurality of infrared sensors 21 .
- the components other than the infrared sensor 21 are the same as those in the first embodiment, so detailed description thereof will be omitted.
- the infrared sensor 21 is installed, for example, on the ceiling of the indoor space 60, and generates temperature distribution information (hereinafter also referred to as a thermal image) indicating the temperature distribution when the indoor space 60 is viewed from above.
- the temperature distribution information is transmitted to the server device 30 .
- the infrared sensor 21 is, for example, an infrared array sensor (thermal image sensor) configured by an array of 8 ⁇ 8 infrared detection elements. In other words, the thermal image produced by infrared sensor 21 has 8 ⁇ 8 pixels.
- the thermal image shows the temperature distribution in the sensing range of the infrared sensor 21 with a resolution of 8x8.
- the infrared sensor 21 is not limited to an infrared array sensor, and may be, for example, a sensor that scans the indoor space 60 with a single infrared detection element, or an infrared image sensor with relatively high resolution. good.
- the infrared sensor 21 is, for example, detachably connected to a power supply terminal of a lighting device 22 installed on the ceiling of an indoor space 60, and receives power from the lighting device 22 to operate.
- the power supply terminal is, for example, a USB terminal.
- the infrared sensor 21 may be fixed directly to the ceiling of the indoor space 60 without the illumination device 22 interposed therebetween. Further, the infrared sensor 21 may be fixed to a wall or the like to generate a thermal image showing the temperature distribution when the indoor space 60 is viewed from the side.
- the position estimation system 10a uses both the temperature distribution information from the infrared sensor 21 and the position information of the first communication device 41 provided by the positioning system 40, so that the first communication device 41 held by the person in the image is detected.
- the position of (target first communication device 41) is estimated with high accuracy.
- An example 2 of operation for estimating the position (coordinates) of the first communication device 41 will be described below.
- FIG. 10 is a flow chart of the coordinate estimation operation example 2 of the first communication device 41 .
- the communication unit 31 of the server device 30 receives the temperature distribution information from the infrared sensor 21 (S41).
- the received temperature distribution information is stored in the storage unit 33 by the information processing unit 32 .
- the temperature distribution information indicates, for example, the temperature distribution when the indoor space 60 is viewed from above.
- the acquisition unit 34 acquires the temperature distribution information received by the communication unit 31 and stored in the storage unit 33 (S42), and the estimation unit 35 applies the super-resolution technique to the acquired temperature distribution information. is applied to increase the resolution of the temperature distribution information (S43).
- the temperature distribution information is described as a thermal image.
- the estimation unit 35 increases the resolution of the thermal image by applying SRGAN (Generative Adversarial Network for Super-Resolution) to the thermal image.
- SRGAN Geneative Adversarial Network for Super-Resolution
- the method for increasing the resolution of the thermal image is not limited to SRGAN, and the estimation unit 35 may increase the resolution of the thermal image by applying SRCNN (Super-Resolution Convolutional Neural Network) to the thermal image.
- SRCNN Super-Resolution Convolutional Neural Network
- a high-resolution thermal image can be generated from the inexpensive infrared sensor 21. It should be noted that the application of the super-resolution technique to the thermal image is not essential, and the processing for increasing the resolution of the thermal image may be omitted.
- the estimation unit 35 estimates the coordinates of the person in the indoor space 60 based on the thermal image (temperature distribution information) to which the super-resolution technology has been applied (S44).
- the estimating unit 35 estimates the position of a person in the thermal image by, for example, performing object detection processing using deep learning (machine learning model) on the thermal image, and determines the position of the person in the thermal image. Convert to coordinates in space 60 . Specifically, the estimation unit 35 performs object detection processing based on techniques such as R-CNN, YOLO, or SSD.
- the machine learning model for performing these object detection processes is not a general color image, but a thermal image obtained by imaging the indoor space 60 (or other indoor space) from above as learning data. be done.
- the storage unit 33 also stores table information indicating the correspondence between the positions of pixels in the thermal image and the coordinates in the indoor space 60.
- the estimation unit 35 uses such table information to A person's position in the thermal image can be transformed into the person's coordinates in the room space 60 .
- the coordinates of the position of the person estimated by the estimation unit 35 are two-dimensional coordinates when the indoor space 60 is viewed from above. becomes.
- steps S45 to S48 are the same as the processes of steps S14 to S17 of the first embodiment.
- the position estimation system 10a can accurately estimate the coordinates of the first communication device 41 held by a person based on the temperature distribution information and the position information acquired from the positioning system 40. can be done.
- the estimation operation of the coordinates of the third communication device 50 (coordinates of the object in which the third communication device 50 is held) by the position estimation system 10a is the estimation operation example 1 of the coordinates of the object described in the first embodiment. and the example 2 of the operation for estimating the coordinates of the object may be used.
- the estimation unit 35 estimates the coordinates of the person in the indoor space 60 by performing object detection processing on the thermal image acquired by the acquisition unit 34 .
- the estimation unit 35 may perform a process of segmenting the thermal image.
- the estimation unit 35 may perform segmentation using deep learning (machine learning model).
- the estimation unit 35 can estimate the coordinates of the person in the indoor space 60 based on the position of the area in which the person appears in the thermal image.
- a machine learning model for performing segmentation is constructed using, for example, a thermal image obtained by imaging the indoor space 60 (or other indoor space) from above as learning data.
- the estimation unit 35 may estimate the coordinates of a person by performing information processing on the thermal image based on a rule-based algorithm that does not use a machine learning model. For example, the estimating unit 35 may perform a process of detecting a pixel having a maximum pixel value among a plurality of pixels included in the thermal image.
- a pixel having a maximum pixel value means a pixel having a maximum pixel value in a two-dimensional arrangement of pixels.
- a pixel having a maximum pixel value means, in other words, a pixel having a higher pixel value than surrounding pixels when comparing pixel values at the same time in a two-dimensional arrangement of pixels.
- the estimating unit 35 estimates that a person exists in the indoor space 60 when detecting a pixel having a maximum pixel value and a pixel value equal to or higher than a predetermined value (for example, 30° C. or higher). can do.
- the estimating unit 35 applies the table information to the position of the pixel having the maximum pixel value and having the pixel value equal to or higher than a predetermined value (for example, 30° C. or higher), thereby determining the indoor space.
- a predetermined value for example, 30° C. or higher
- Another example of information processing based on a rule-based algorithm is processing that detects temporal changes in the pixel values (temperature) of each of a plurality of pixels included in a thermal image. Assuming that there are no heat sources other than people in the indoor space 60, and when there are no people in the indoor space 60, the pixel values (temperatures) of the plurality of pixels included in the thermal image slowly change over time. In this state, when a person enters the indoor space 60, the pixel values of the pixels in the portion of the thermal image where the person is shown change (increase) abruptly.
- the estimating unit 35 can estimate that a person is present in the indoor space 60 when the pixel value suddenly increases by monitoring the temporal change of the pixel value of each of the plurality of pixels.
- the estimation unit 35 can estimate the coordinates of the position of the person in the indoor space 60 by applying the table information described above to the position of the pixel whose pixel value has increased sharply.
- the positioning system 40 measures the position of the first communication device 41 based on the received signal strength of the beacon signal transmitted by each of the plurality of second communication devices 42 at the first communication device 41 .
- position estimation system 10 or position estimation system 10a may include another positioning system instead of positioning system 40 .
- Another positioning system is, for example, a positioning system that measures the position of a first communication device based on the received signal strength of a beacon signal transmitted by the first communication device at each of a plurality of second communication devices. That is, the position estimation system 10 or the position estimation system 10a may include a positioning system in which the relationship between the positioning system 40 and beacon signal transmission and reception is reversed.
- FIG. 11 is a block diagram showing the functional configuration of the positioning system according to the modification.
- FIG. 12 is a diagram showing an indoor space 60 to which the positioning system according to the modification is applied. Note that FIG. 11 also shows the server device 30 and the third communication device 50 .
- the positioning system 70 is based on the state of communication between a first communication device 71 located in the indoor space 60 and a plurality of second communication devices 72 installed in the indoor space 60. The position of the object in the indoor space 60 is measured.
- the positioning system 70 includes a plurality of first communication devices 71 , a plurality of second communication devices 72 and a positioning server device 73 .
- the positioning system 70 may include at least one first communication device 71 .
- the first communication device 71 is a beacon transmitter that transmits beacon signals.
- the first communication device 71 is, for example, a portable information terminal (such as a smart phone) capable of operating as a beacon transmitter, but may be a dedicated beacon transmitter. As shown in FIG. 12 , the first communication device 71 is held by a person located in the indoor space 60 .
- the beacon signal includes first identification information of the first communication device 71 .
- the first communication device 71 also functions as a beacon receiver that receives beacon signals transmitted by the third communication device 50. Specifically, the first communication device 71 receives the beacon signal transmitted by the third communication device 50 and measures the received signal strength of the received beacon signal. Further, the first communication device 71 generates a signal in which the measured received signal strength is associated with the third identification information of the third communication device 50 included in the beacon signal and the first identification information of the first communication device 71 itself. The intensity information is transmitted to the positioning server device 73 .
- the second communication device 72 is a beacon receiver (scanner) that receives beacon signals transmitted by the first communication device 71 .
- the second communication device 72 measures the received signal strength indicator (RSSI) of the received beacon signal, and the measured received signal strength includes the first identification information included in the beacon signal and the second communication device 72 itself.
- the signal strength information associated with the second identification information is transmitted to the positioning server device 73 .
- the second communication device 72 is, for example, detachably connected to a power supply terminal of the lighting device 22 installed on the ceiling of the indoor space 60, and operates by receiving power from the lighting device 22.
- the power supply terminal is, for example, a USB terminal.
- the second communication device 72 may be fixed directly to the ceiling of the indoor space 60 without the lighting device 22 interposed therebetween. Also, the second communication device 72 may be fixed to a wall or the like.
- the plurality of second communication devices 72 are two-dimensionally distributed when viewed from above.
- the positioning server device 73 acquires the signal strength information of the beacon signal transmitted by the first communication device 71 from each of the plurality of second communication devices 72, and based on the acquired signal strength information, the first communication device 71 Measure the position of
- the positioning server device 73 is an edge computer provided in the facility (building) that constitutes the indoor space 60, but may be a cloud computer provided outside the facility.
- the positioning server device 73 includes a communication section 74 , an information processing section 75 and a storage section 76 .
- the communication unit 74 is a communication module (communication circuit) for the positioning server device 73 to communicate with the plurality of second communication devices 72 and the server device 30 .
- the communication unit 74 receives signal strength information from each of the plurality of second communication devices 72, for example. Also, the communication unit 74 transmits the position information of the object located in the indoor space 60 to the server device 30 .
- the communication performed by the communication unit 74 may be wireless communication or wired communication.
- the communication standard used for communication is also not particularly limited.
- the information processing section 75 measures the position of the first communication device 71 based on a plurality of pieces of signal strength information received by the communication section 74, and outputs position information indicating the measured position.
- the output position information is transmitted to the server device 30 by the communication unit 74 .
- the information processing unit 75 includes a plurality of signal strength information including the first identification information included in the beacon signal transmitted by the first communication device 71 and the second identification information of the second communication device 72 itself, and the indoor space
- the position of the first communication device 71 is measured based on the arrangement information indicating the arrangement (installation position) of the plurality of second communication devices 72 in 60, and the first identification information of the first communication device 71 is provided at the measured position.
- the arrangement information is specifically information that associates the second identification information of the second communication device 72 with the coordinates (two-dimensional coordinates) of the installation position of the second communication device 72 . Any existing algorithm may be used as a method of measuring a position based on a plurality of pieces of signal strength information and arrangement information.
- the information processing section 75 is specifically realized by a processor or a microcomputer.
- the functions of the information processing section 75 are realized by executing a computer program stored in the storage section 76 by a processor or a microcomputer constituting the information processing section 75 .
- the storage unit 76 is a storage device that stores signal strength information received by the communication unit 74, arrangement information indicating the arrangement of the plurality of second communication devices 72, computer programs executed by the information processing unit 75, and the like. .
- the storage unit 76 is specifically implemented by a semiconductor memory, HDD, or the like.
- the positioning system 70 can measure the position of the first communication device 71 based on the received signal strength of the beacon signal transmitted by each of the plurality of second communication devices 72 at the first communication device 71 . Specifically, the positioning system 70 can measure where and what kind of object is located in the indoor space 60 .
- Position estimation system 10 or position estimation system 10 a may include positioning system 70 instead of positioning system 40 .
- the location information acquisition unit 36 of the server device 30 acquires location information from the positioning system 70 and the acquisition unit 34 acquires signal strength information from the first communication device 71 .
- the position estimation system 10 or the position estimation system 10a is an acquisition unit that acquires either image information of an image showing the indoor space 60 where a person is located or temperature distribution information of the indoor space 60. 34, an estimation unit 35 that estimates the coordinates of a person in the indoor space 60 based on the acquired information, a first communication device located in the indoor space 60, and a plurality of second communication devices installed in the indoor space 60.
- a position information acquiring unit 36 that acquires position information of the first communication device from a positioning system that measures the position of the first communication device based on the state of communication with each.
- the estimating unit 35 estimates the coordinates of the first communication device held by the person based on the estimated coordinates of the person and the acquired position information, and calculates the coordinates of the third communication device held by the object other than the person.
- the coordinates of the object in the indoor space 60 are estimated based on the communication state between the device 50 and the target first communication device and the estimated coordinates of the target first communication device.
- the positioning system here is the positioning system 40 or the positioning system 70
- the first communication device is the first communication device 41 or the first communication device 71
- the second communication device is the second communication device 42 or the second communication device.
- Two communication devices 72 Two communication devices 72 .
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object in the indoor space 60.
- the estimating unit 35 calculates the coordinates of the object based on changes in the communication state between the third communication device 50 and the target first communication device in accordance with changes over time in the coordinates of the target first communication device. presume.
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object in the indoor space 60 based on information about one target first communication device.
- the estimation unit 35 estimates the coordinates of each of a plurality of target first communication devices held by different persons, and calculates the communication state between the third communication device 50 and each of the plurality of target first communication devices , and the coordinates of the object in the indoor space 60 are estimated based on the estimated coordinates of the plurality of target first communication devices.
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object in the indoor space 60 based on information about a plurality of target first communication devices.
- the acquisition unit 34 acquires image information of an image when the indoor space 60 is viewed from above.
- the estimation unit 35 estimates coordinates based on the acquired image information.
- the coordinates are two-dimensional coordinates when the indoor space 60 is viewed from above.
- Such a position estimation system 10 can estimate the coordinates of an object in the indoor space 60 based on the image information.
- the acquisition unit 34 acquires temperature distribution information indicating the temperature distribution of the indoor space 60 when the indoor space 60 is viewed from above.
- the estimation unit 35 estimates coordinates based on the acquired temperature distribution information.
- the coordinates are two-dimensional coordinates when the indoor space 60 is viewed from above.
- Such a position estimation system 10a can estimate the coordinates of an object in the indoor space 60 based on the temperature distribution information.
- the positioning system 40 measures the position of the first communication device 41 based on the received signal strength of the beacon signal transmitted by each of the plurality of second communication devices 42 at the first communication device 41 .
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object in the indoor space 60 based on the position information provided by the positioning system 40.
- the positioning system 70 measures the position of the first communication device 71 based on the received signal strength of the beacon signal transmitted by the first communication device 71 at each of the plurality of second communication devices 72 .
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object in the indoor space 60 based on the position information provided by the positioning system 70.
- an object is an object other than a person.
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of an object (tangible object) other than a person in the indoor space 60.
- the object is a person.
- Such a position estimation system 10 or position estimation system 10a can estimate the coordinates of a person in the indoor space 60.
- the position estimation method executed by a computer such as the position estimation system 10 or the position estimation system 10a includes either image information of an image showing the indoor space 60 where a person is located, or temperature distribution information of the indoor space 60.
- Such a position estimation method can estimate the coordinates of an object in the indoor space 60.
- the position estimation system is implemented by a plurality of devices, but may be implemented as a single device.
- the position estimation system may be implemented as a single device that corresponds to the server device.
- each component included in the position estimation system may be distributed to the plurality of devices in any way.
- part or all of the functions of the positioning server device may be provided by the server device.
- processing executed by a specific processing unit may be executed by another processing unit.
- order of multiple processes may be changed, and multiple processes may be executed in parallel.
- each component may be realized by executing a software program suitable for each component.
- Each component may be realized by reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory by a program execution unit such as a CPU or processor.
- each component may be realized by hardware.
- each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole, or may be separate circuits. These circuits may be general-purpose circuits or dedicated circuits.
- the present invention may be implemented as a position estimation method executed by a computer such as a position estimation system. Further, the present invention may be implemented as a program for causing a computer to execute a position estimation method, or as a computer-readable non-temporary recording medium storing such a program. .
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Abstract
Description
[構成]
まず、実施の形態1に係る位置推定システムの構成について説明する。図1は、実施の形態1に係る位置推定システムの機能構成を示すブロック図である。図2は、実施の形態1に係る位置推定システムが適用される室内空間を示す図である。
上述のように測位システム40は、複数の第二通信装置42のそれぞれが送信するビーコン信号の第一通信装置41における受信信号強度に基づいて、人によって保持される第一通信装置41(ビーコン受信機)の位置を計測することができる。しかしながら、測位システム40によって計測される第一通信装置41の位置の精度はあまり高くない場合がある。また、測位システム40は、第三通信装置50のようなビーコン送信機の位置を直接的に計測できない。
また、位置推定システム10は、推定された対象の第一通信装置41の位置を利用して、室内空間60における第三通信装置50の座標(言い換えれば、第三通信装置50を保持する物体の座標)を推定することができる。図5は、物体の座標の推定動作例1のフローチャートである。なお、以下の第三通信装置50の座標の推定動作例1では、対象の第一通信装置41を保持する人は移動するが、第三通信装置50を保持する物体は移動しないものとして説明が行われる。
物体の座標の推定動作例1では、位置推定システム10は、1つの対象の第一通信装置41の座標の変化を追跡することにより第三通信装置50を保持している物体の座標を推定した。これに対し、位置推定システム10は、複数の対象の第一通信装置41の座標を推定することにより第三通信装置50を保持している物体の座標を推定することもできる。以下、このような動作例について説明する。図6は、物体の座標の推定動作例2のフローチャートである。
[構成]
次に、実施の形態2に係る位置推定システムの構成について説明する。図7は、実施の形態2に係る位置推定システムの機能構成を示すブロック図である。図8は、実施の形態2に係る位置推定システムが適用される室内空間60を示す図である。
位置推定システム10aは、赤外線センサ21によって温度分布情報と、測位システム40によって提供される第一通信装置41の位置情報とを併用することで、画像に映る人によって保持された第一通信装置41(対象の第一通信装置41)の位置を高精度に推定する。以下、第一通信装置41の位置(座標)の推定動作例2について説明する。図10は、第一通信装置41の座標の推定動作例2のフローチャートである。
測位システム40は、複数の第二通信装置42のそれぞれが送信するビーコン信号の第一通信装置41における受信信号強度に基づいて、第一通信装置41の位置を計測した。ここで、位置推定システム10または位置推定システム10aは、測位システム40に代えてもう一つの測位システムを備えてもよい。もう一つの測位システムは、例えば、第一通信装置が送信するビーコン信号の、複数の第二通信装置のそれぞれにおける受信信号強度に基づいて第一通信装置の位置を計測する測位システムである。つまり、位置推定システム10または位置推定システム10aは、測位システム40とビーコン信号の送信及び受信の関係が逆転した測位システムを備えてもよい。
以上説明したように、位置推定システム10または位置推定システム10aは、人が位置する室内空間60が映る画像の画像情報、及び、室内空間60の温度分布情報のいずれかの情報を取得する取得部34と、取得された情報に基づいて、室内空間60における人の座標を推定する推定部35と、室内空間60に位置する第一通信装置と室内空間60に設置された複数の第二通信装置それぞれとの通信状態に基づいて第一通信装置の位置を計測する測位システムから第一通信装置の位置情報を取得する位置情報取得部36とを備える。推定部35は、推定された人の座標、及び、取得された位置情報に基づいて、人が保持する対象の第一通信装置の座標を推定し、人以外の物体に保持された第三通信装置50と対象の第一通信装置との通信状態、及び、推定された対象の第一通信装置の座標に基づいて、室内空間60における物体の座標を推定する。ここでの測位システムは、測位システム40または測位システム70であり、第一通信装置は、第一通信装置41または第一通信装置71であり、第二通信装置は、第二通信装置42または第二通信装置72である。
以上、実施の形態に係る位置推定システム、及び、位置推定方法について説明したが、本発明は、上記実施の形態に限定されるものではない。
20 カメラ
21 赤外線センサ
22 照明装置
30 サーバ装置
31、44、74 通信部
32、45、75 情報処理部
33、46、76 記憶部
34 取得部
35 推定部
36 位置情報取得部
40、70 測位システム
41、71 第一通信装置
42、72 第二通信装置
43、73 測位用サーバ装置
50 第三通信装置
60 室内空間(空間)
Claims (11)
- 人が位置する空間が映る画像の画像情報、及び、前記空間の温度分布情報のいずれかの情報を取得する取得部と、
取得された前記情報に基づいて、前記空間における前記人の座標を推定する推定部と、
前記空間に位置する第一通信装置と前記空間に設置された複数の第二通信装置それぞれとの通信状態に基づいて前記第一通信装置の位置を計測する測位システムから前記第一通信装置の位置情報を取得する位置情報取得部とを備え、
前記推定部は、
推定された前記人の座標、及び、取得された前記位置情報に基づいて、前記人が保持する対象の第一通信装置の座標を推定し、
前記人以外の物体に保持された第三通信装置と前記対象の第一通信装置との通信状態、及び、推定された前記対象の第一通信装置の座標に基づいて、前記空間における前記物体の座標を推定する
位置推定システム。 - 前記推定部は、前記対象の第一通信装置の座標の経時変化に応じた、前記第三通信装置と前記対象の第一通信装置との通信状態の変化に基づいて、前記物体の座標を推定する
請求項1に記載の位置推定システム。 - 前記推定部は、
互いに異なる人に保持された複数の前記対象の第一通信装置それぞれの前記座標を推定し、
前記第三通信装置と複数の前記対象の第一通信装置それぞれとの通信状態、及び、推定された複数の前記対象の第一通信装置の座標に基づいて、前記空間における前記物体の座標を推定する
請求項1に記載の位置推定システム。 - 前記取得部は、前記空間を上方から見たときの前記画像の前記画像情報を取得し、
前記推定部は、取得された前記画像情報に基づいて前記座標を推定し、
前記座標は、前記空間を上方から見たときの二次元座標である
請求項1~3のいずれか1項に記載の位置推定システム。 - 前記取得部は、前記空間を上方から見たときの前記空間の温度分布を示す前記温度分布情報を取得し、
前記推定部は、取得された前記温度分布情報に基づいて前記座標を推定し、
前記座標は、前記空間を上方から見たときの二次元座標である
請求項1~3のいずれか1項に記載の位置推定システム。 - 前記測位システムは、前記複数の第二通信装置のそれぞれが送信するビーコン信号の前記第一通信装置における受信信号強度に基づいて前記第一通信装置の位置を計測する
請求項1~3のいずれか1項に記載の位置推定システム。 - 前記測位システムは、前記第一通信装置が送信するビーコン信号の、前記複数の第二通信装置のそれぞれにおける受信信号強度に基づいて前記第一通信装置の位置を計測する
請求項1~3のいずれか1項に記載の位置推定システム。 - 前記物体は、人以外の物体である
請求項1~3のいずれか1項に記載の位置推定システム。 - 前記物体は、人である
請求項1~3のいずれか1項に記載の位置推定システム。 - 人が位置する空間が映る画像の画像情報、及び、前記空間の温度分布情報のいずれかの情報を取得する取得ステップと、
取得された前記情報に基づいて、前記空間における前記人の座標を推定する第一推定ステップと、
前記空間に位置する第一通信装置と前記空間に設置された複数の第二通信装置それぞれとの通信状態に基づいて前記第一通信装置の位置を計測する測位システムから前記第一通信装置の位置情報を取得する位置情報取得ステップと、
推定された前記人の座標、及び、取得された前記位置情報に基づいて、前記人が保持する対象の第一通信装置の座標を推定する第二推定ステップと、
前記人以外の物体に保持された第三通信装置と前記対象の第一通信装置との通信状態、及び、推定された前記対象の第一通信装置の座標に基づいて、前記空間における前記物体の座標を推定する第三推定ステップとを含む
位置推定方法。 - 請求項10に記載の位置推定方法をコンピュータに実行させるためのプログラム。
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