WO2012070595A1 - 位置情報提供装置、位置情報提供システム、位置情報提供方法、プログラム及び記録媒体 - Google Patents
位置情報提供装置、位置情報提供システム、位置情報提供方法、プログラム及び記録媒体 Download PDFInfo
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- WO2012070595A1 WO2012070595A1 PCT/JP2011/076969 JP2011076969W WO2012070595A1 WO 2012070595 A1 WO2012070595 A1 WO 2012070595A1 JP 2011076969 W JP2011076969 W JP 2011076969W WO 2012070595 A1 WO2012070595 A1 WO 2012070595A1
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- reliability
- sensor data
- information providing
- position information
- feature amount
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Definitions
- the present invention relates to a position information providing device, a position information providing system, a position information providing method, a program, and a recording medium.
- Location information services such as navigation and information search services are, for example, AR (Augmented Reality, Augmented Reality) on mobile terminals equipped with cameras, GPS (Global Positioning System), acceleration sensors, electronic compass, etc. ).
- AR Augmented Reality
- GPS Global Positioning System
- acceleration sensors electronic compass, etc.
- Autonomous navigation is a technique for estimating a user's movement by combining a plurality of sensors such as an acceleration sensor, a gyro sensor, and a magnetic sensor, and calculating a position and a moving direction (azimuth) from a reference position.
- the reference position for example, the entrance of a store, etc.
- Relative position and orientation can be calculated, and AR service becomes possible.
- the current position and direction are calculated by adding the measured values of the change in the position and moving direction from the reference position (when measurement is started), so the measurement error is added (accumulated) together with the measured value. Measurement errors may become large. As a result, when related information is presented based on the calculated current position and orientation, information that does not match the actual current position and orientation is presented, which may confuse the user.
- the position and orientation are calculated by several measurement methods, and the measurement result is selected according to the reliability of the calculation result.
- the reliability of the GPS positioning result is compared with the reliability of the autonomous navigation positioning result, and a highly reliable positioning result is adopted.
- an index representing the reliability of the GPS positioning result an average value of HDOP information and SN information included in the GPS data is used.
- the index representing the reliability of the autonomous navigation positioning result is calculated from the cumulative travel distance and the cumulative direction change amount.
- the reliability is calculated using the positioning results such as the accumulated moving distance and the accumulated direction change amount.
- a large cumulative moving distance or cumulative direction change amount does not necessarily indicate that the reliability of the positioning result is low.
- the position and the direction can be calculated with high accuracy if there is little noise and it is close to the input of sensor data assumed in advance in the design stage. That is, there is a problem that the reliability cannot be calculated correctly only by using the positioning results such as the accumulated moving distance and the accumulated direction change amount as they are.
- an object of the present invention is to provide a position information providing apparatus, a position information providing system, a position information providing method, a program, and a recording medium that can accurately calculate the reliability of measurement results.
- the position information providing apparatus of the present invention provides: Sensor data acquisition means for acquiring sensor data; A feature amount calculating means for calculating a feature amount from the sensor data; Reliability calculation means for calculating reliability using the feature amount; With The sensor data is plural, The feature amount includes a statistic amount of the plurality of sensor data and an amount indicating a shape of the sensor data.
- the first location information providing system of the present invention includes: The position information providing device of the present invention, and a server,
- the server records the sensor data
- the sensor data acquisition means acquires the sensor data from the server.
- the second location information providing system of the present invention is: The position information providing device of the present invention, and a server, The server records guidance information generation data,
- the position information providing device further includes a position measuring unit that measures the position and orientation of the position information providing device by autonomous navigation using the sensor data;
- Guidance information to be presented to the user by setting a search range in the space around the position information providing device using the position and orientation and the reliability, and searching for geographic information included in the search range
- Guidance information generating means for generating Information presenting means for presenting the guidance information to the user;
- Guidance information generation data acquisition means for acquiring the guide information generation data from the server,
- the guide information generation means further generates the guide information using the guide information generation data.
- the location information providing method of the present invention includes: Using the position information providing apparatus of the present invention, A sensor data acquisition step of acquiring sensor data by the sensor data acquisition means; A feature amount calculating step of calculating a feature amount from the sensor data by the feature amount calculating means; A reliability calculation step of calculating reliability using the feature amount by the reliability calculation means; Including The sensor data is plural, The feature amount includes a statistic amount of the plurality of sensor data and an amount indicating a shape of the sensor data.
- the present invention provides a program characterized in that the position information presentation method of the present invention can be executed on a computer.
- the present invention provides a recording medium that records the program of the present invention and is readable by a computer.
- the reliability of the measurement result can be calculated with high accuracy.
- FIG. 1 is a block diagram schematically showing an example of the position information providing apparatus of the present embodiment.
- the position information providing apparatus includes a sensor 101, a sensor data acquisition unit 110, a feature amount calculation unit 120, a reliability calculation unit 130, a position measurement unit 160, a guidance information generation unit 140, an information Presentation means 150.
- the position information providing apparatus of the present invention is not particularly limited, but is a terminal that can be worn by a user and can walk outdoors (for example, in the city) or indoors, or is an apparatus incorporated in such a terminal. It is preferable.
- the terminal include a portable terminal such as a game machine, a mobile phone, and a smartphone, a portable personal computer such as a notebook personal computer, and a small terminal incorporated with a microcomputer in accessories such as a key holder, a wrist watch, and a pendant.
- the position information providing apparatus of the present invention is particularly useful in places where it is difficult to obtain the position and direction by a method such as GPS or an electronic compass (for example, indoors or valleys of high-rise buildings).
- the position information providing apparatus of the present invention is not limited to this, and may be used in any place, and can be used indoors or outdoors.
- the terminal may be a terminal that can acquire information by connecting to a LAN, the Internet, or the like through a mobile phone network, a wireless LAN, or the like.
- the terminal may include, for example, an information display device such as a display, and an intention presentation device such as a keyboard and buttons, and may be implemented with software for operating them.
- the sensor 101 may be attached inside the terminal, or may be provided outside.
- the sensor 101 may be connected to the sensor data acquisition unit 110 by wire or may be connected wirelessly.
- the position information providing device of the present invention may be a device including a sensor, or may be a device that does not include a sensor and is used with another sensor.
- each means other than the sensor 101 is preferably incorporated in the same terminal or computer, but may be individually on a different portable terminal or computer and connected via a network.
- each means constituting the apparatus of FIG. 1 is not particularly limited, and any configuration may be used.
- sensor data is continuously acquired while the apparatus is activated, and measurement of position, calculation of reliability, generation of guidance information, and information presentation are performed using the acquired sensor data.
- the sensor data may be acquired every second and the process may be performed.
- description will be mainly given of one-time position measurement, reliability calculation, guidance information generation, and information presentation.
- the number and timing of these processes are not limited by the following description.
- the sensor 101 is attached to the inside or outside of the portable terminal possessed by the user, and generates sensor data based on the position and orientation of the position information providing apparatus in FIG.
- the portable terminal is preferably the device itself of FIG. 1 or a terminal incorporating the device of FIG.
- the sensor data acquisition unit 110 sequentially acquires sensor data from the sensor 101 and stores it in a buffer (not shown) using a storage medium such as a memory or a hard disk.
- the position measurement unit 160 measures the position and orientation of the terminal by autonomous navigation using the sensor data acquired by the sensor data acquisition unit 110.
- the autonomous navigation may be a known autonomous navigation, for example, an autonomous navigation described in Patent Document 1 or the like. Thereby, for example, a relative position and posture from a specific point such as an entrance of a building can be measured.
- the sensor 101 is not particularly limited, and may be, for example, an acceleration sensor, a gyro sensor, an electronic compass, or the like.
- the feature amount calculation unit 120 performs statistical processing on the sensor data acquired by the sensor data acquisition unit 110 and generates (calculates) a feature amount for calculating the reliability.
- the sensor 101 connected to the sensor data acquisition unit 110 is a gyro sensor, an acceleration sensor, an electronic compass, or the like, as shown in FIG.
- Calculates statistics such as variance, average, maximum, minimum, and median of data (angular velocity, acceleration, direction, etc.), and expresses waveform characteristics such as the number of peaks in the time window and average peak interval
- the feature amount may be calculated.
- the horizontal axis represents the elapsed time from the reference time
- the vertical axis represents the value of sensor data (for example, angular velocity, acceleration, direction, etc.).
- the reliability calculation unit 130 calculates the reliability of the position and orientation measured by the position measurement unit 160 using the feature amount generated (calculated) by the feature amount calculation unit 120. For example, when a feature amount exceeding a preset range is generated, the reliability of the position and orientation measured by the position measurement unit 160 using the sensor data of the same period is lowered. More specifically, for example, when the maximum or minimum of the sensor data exceeds the set range or the variance exceeds a certain value, the reliability is reduced.
- the guidance information generation unit 140 generates guidance information to be presented to the user based on the position and orientation measured by the position measurement unit 160 and the reliability calculated by the reliability calculation unit 130. For example, in the case of indoor store information guidance or sightseeing information guidance, information (store name, genre, etc.) of stores existing around the measured position (position where the position information providing device is estimated) is searched from the database, You may get it. At that time, for example, as shown in FIG. 2A, when the reliability is high, the search range is set to a range 202 close to the measured position (estimated position / posture 203), and the store information is searched. If the reliability is low, the information may be searched by setting the wide range 201.
- the database may be stored, for example, in the position information providing apparatus in FIG.
- the second location information providing system of the present invention includes the server that records the guide information generation data and the location information providing apparatus of the present invention, and the guide information generating means includes The guide information is generated using the guide information generation data.
- the information presenting means 150 presents the guide information generated by the guide information generating means 140 on the terminal using the reliability calculated by the reliability calculating means 130. For example, when the guidance information is presented using the AR technology, the guidance information may be presented on the video of each store when the reliability is high as shown in FIG. On the other hand, when the reliability is low, as shown in FIG. 3 (B), a list of stores may be displayed, and it may be limited only to indicate what stores are in the vicinity.
- the flowchart of the position information providing method shown in FIG. 5 includes (1) a process for acquiring sensor data, (2) a position and orientation measurement process, and a reliability calculation process as main processes.
- the position information providing method is performed only once, the process of (2) is performed after the process of (1).
- the position information providing method is continuously performed a plurality of times, the above (1) (2 ) Is preferably performed in parallel from the viewpoint of processing efficiency. That is, it is preferable to perform the process (1) at the same time that the process (2) is performed in order to implement the next location information providing method.
- the present invention is not limited to this.
- step S001 sensor data generation step
- step S002 sensor data acquisition step
- step S003 the sensor data acquisition unit 110 stores the sensor data acquired in step S002 in a buffer created on a storage medium such as a memory or a hard disk on the apparatus. Steps S001 to S003 correspond to the process (1) for acquiring sensor data.
- step S001 is performed as a process different from the position information providing method of the present invention, and the position information providing method of the present invention is started from step S002. Also good.
- Step S003 is not necessary, but step S003 is preferably performed from the viewpoint of data processing efficiency.
- step S004 it is determined whether or not sufficient sensor data for feature quantity calculation has been obtained.
- the means for making this determination is not particularly limited, and may be, for example, a general CPU.
- the process proceeds to the next step (step 005). If sensor data sufficient for calculating the feature amount is not obtained, steps S001 to S003 are repeated. Further, even when sensor data sufficient for feature amount calculation is obtained, steps S001 to S003 may be performed again in order to provide the next position information. As described above, it is preferable to repeat the steps S001 to S003 in order and continuously perform the process (1) for acquiring sensor data.
- the position measurement unit 160 uses the sensor data acquired by the sensor data acquisition unit 110 in step S002 (stored in the buffer in step S003) and uses autonomous navigation generally known in Patent Document 1 or the like. Then, the current position and orientation of the position information providing apparatus are measured (step S005: position measurement step). Next, the feature amount calculation unit 120 generates (calculates) the feature amount using the sensor data acquired by the sensor data acquisition unit 110 in step S002 (stored in the buffer in step S003) (step S006: feature amount calculation). Step).
- the feature amount calculated in step 006 is, for example, a feature amount that is a statistic such as a variance value, an average value, a maximum value, a minimum value, or a median value of the sensor data, and a waveform such as a peak number or an average peak interval. At least one of the feature quantities related to the shape may be included.
- the reliability calculation unit 130 calculates the reliability using the feature amount generated (calculated) in step S006 (step S007: reliability calculation step). Steps S005 to S007 correspond to the position and orientation measurement process and the reliability calculation process (2).
- the guidance information generation unit 140 uses the search range in the space around the position information providing device. Is set, the geographical information in the search range is searched, and guide information to be presented to the user is generated (step S008: guide information generation step).
- the geographical information may be, for example, store information or sightseeing information. Moreover, you may use the said shop information, sightseeing information, etc. which were acquired by search as guidance information for showing to a user as it is.
- the information presenting means 150 presents the guidance information acquired in step S008 based on the reliability calculated in step S007 (step S009: information presenting step). In this way, the position information providing method of the present embodiment can be implemented. If the same location information providing method is performed again and the guidance information needs to be presented to the user, the process returns to step S001 after step S009 and the same steps are repeated.
- position information providing apparatus FIG. 1
- operation thereof position information providing method of FIG. 5
- this embodiment is not limited to this specific example.
- implementation of a single process location information providing method
- similar processes sensor data acquisition process, guidance information generation process, etc.
- the position information providing device is, for example, a terminal (such as a mobile phone) provided with an acceleration sensor and a gyro sensor as the sensor 101.
- the location information providing method is, for example, an indoor store guidance service, and store information (store name, catch phrase, etc.) is presented to the user as guide information.
- the user browses the information by holding the terminal over the periphery in the same manner as a generally known AR application. That is, on the terminal, the video in the direction in which the user is currently facing and the guidance information generated by the position information providing device are displayed.
- step S001 sensor data generation step in FIG. 5
- the acceleration and angular velocity of the terminal (position information providing device) are generated (measured) as sensor data.
- step S002 sensor data acquisition step
- the sensor data acquisition means 110 acquires the acceleration and angular velocity, and stores them in a buffer in step S003.
- the processing of steps S001 to S003 is repeated at all times, and acceleration and angular velocity are stored in the buffer.
- step S005 position measurement step in FIG. 5
- the position measurement means 160 measures the position and orientation of the relative position information providing device from the store entrance using autonomous navigation known in Patent Document 1 or the like.
- the movement distance is calculated by taking the vertical movement from the change in acceleration of the user's body (that is, the position information providing device) and multiplying the number of vertical movements by the stride.
- the posture in which the user is facing that is, the position information providing device
- the relative position and orientation from the store entrance can be measured from the travel distance and orientation determined as described above.
- step S006 feature amount calculation step
- the feature amount calculation means 120 calculates the feature amount based on the statistics of acceleration and angular velocity stored in the buffer in step S003.
- the feature amount may be calculated by setting a time window for a certain past period as shown in FIG. 4 for the acceleration and angular velocity stored in the buffer.
- a dispersion value of acceleration within a time window, a peak number, and an average peak interval may be used as feature amounts.
- the angular velocity one or both of the average value and the maximum value in the time window may be used as the feature amount.
- the feature quantity 600 shown in the uppermost table of FIG. 6 is calculated.
- step S007 reliability calculation step
- the reliability calculation unit 130 calculates the reliability using the feature amount calculated in step S006.
- the reliability 610 regarding acceleration is calculated based on the feature amount related to acceleration
- the reliability 620 regarding angular velocity is calculated based on the feature amount regarding angular velocity, and the average value thereof is calculated. May be calculated as the reliability in the time window (reliability 630).
- the mathematical expression in the frame represented by “reliability 610” is an expression for calculating the reliability 610 related to acceleration using the feature quantity related to acceleration.
- the reliability is calculated using the variance (dispersion value) or peak number of acceleration as the feature amount, the variance or the peak number has a certain threshold (in FIG. 6, variance: 9000, peak number: 10) In the above case, the reliability is lowered. Further, when the reliability is calculated using the average peak interval of acceleration as the feature amount, the reliability is highest when the average peak interval is a certain value (average peak interval 90 in FIG. 6). The reliability decreases with increasing distance from the value.
- the numerical formula in the frame represented by “reliability 620” is an expression for calculating the reliability 620 related to the angular velocity using the feature quantity related to the angular velocity.
- the reliability 620 is calculated using the average value of the angular velocity as the feature amount, the reliability is highest when the average value is a certain value (average value 90 in FIG. 6). The reliability decreases with increasing distance from the value.
- the reliability 620 is calculated using the number of angular velocity peaks as the feature amount, the reliability decreases when the number of peaks is equal to or greater than a certain threshold (the number of peaks is 500 in FIG. 6). It has become.
- the mathematical expression in the frame represented by “reliability 630” is an expression for calculating the reliability 630 in the current time window from the reliability 610 and 620 calculated based on each feature amount. is there.
- the reliability 610 regarding acceleration and the reliability 620 regarding angular velocity calculated for each feature amount in FIG. 6 are collectively shown as “reliability 700” in the table of FIG. Further, when the average value of these reliability levels is calculated as the reliability level 630, the reliability level 630 is 0.96 as shown in FIG.
- step S008 guidance information generation step
- the guidance information generation means 140 generates guidance information based on the position and orientation measured in step S005 and the reliability calculated in step S007.
- a fan-shaped search range extending from the current direction to the left and right is set around the current position, and surrounding geographical information (for example, store information) is set.
- the geographical information (for example, store information) is assumed to be stored in a generally known database (for example, as described above), and the geographical information included in the set search range is searched.
- the sector radius and center angle of FIG. 2A are set based on the reliability (reliability 630) calculated in FIGS. More specifically, for example, the search range is set by an expression shown as “search range 210” in FIG. The “reliability” shown in the frame of “search range 210” is the reliability (reliability 630) calculated in FIGS. If the search range is calculated using the reliability 700 in FIG. 7 (reliability 630 in FIG. 6) based on this equation, the reliability 700 (reliability 630) is 0.96 as described above. A search range 220 of 2 (B) is calculated.
- the information presentation unit 150 displays the guidance information generated in step S008 on the terminal (presents to the user) based on the reliability 630 calculated in step S007.
- the display method of the screen on the terminal is selected according to the reliability 630. Specifically, when the reliability 630 is high, for example, the display method of the screen 300 shown in FIG. 3A is selected, and the guidance information is displayed in accordance with the store in the landscape video on the screen. On the other hand, when the reliability 630 is low, for example, the display method of the screen 310 shown in FIG. 3B is selected, and the guidance information is displayed as a list.
- the screen 300 may be selected if the reliability 630 is 0.5 or more, and the screen 310 may be selected if the reliability is less than 0.5. Since the reliability calculated in step 005 is 0.96 (that is, 0.5 or more), the screen 300 is selected and displayed on the terminal.
- the position information providing apparatus in FIG. 1 and the position information providing method in FIG. 5 have been described with specific examples. However, these are examples, and various modifications are possible.
- the calculation formula of the reliability shown in this example, the search range setting method using the reliability, etc. are examples, and if an appropriate one is set according to the sensor, the terminal, the guidance information to be presented, etc. Good.
- the reliability calculation step step S007 in FIG. 5 in which the reliability is calculated using the feature value
- a threshold value is provided for the feature value, and the reliability is either 0 or 1 above or below the threshold value. May be set.
- the center angle may be fixed at 360 degrees, and only the radius may be adjusted using the reliability.
- the screen example shown in this example is merely an example, and other presentation methods may be used.
- guidance information may be displayed on a map instead of AR.
- a button or the like may be prepared, and when the button is pressed, a dialog or a browser for displaying surrounding store information may be started.
- the information to be presented may be a video or the like as well as a character string or an image.
- the video stored in the database in the terminal in advance may be used, or the video may be acquired from a video site or streaming site on the Internet such as youtube or ustream (both are trademarks).
- the senor 101 has been described assuming an acceleration sensor and a gyro sensor.
- an electronic compass, a microphone, an illuminance sensor, or the like may be used.
- the reliability calculation may be performed by further increasing the reliability calculation formula as described in this example.
- a threshold value for example, a small value such as 0.1
- the user is notified that the measurement result cannot be used. May be. Specifically, for example, “the measurement accuracy has been remarkably lowered” or “cannot be used” may be presented.
- the position information providing apparatus described in the present embodiment includes a reliability calculation unit that can calculate the reliability of the measurement result based on the position and orientation measurement method or the characteristics of the sensor data. In addition, the reliability of the position and orientation measurement results can be calculated. Furthermore, accurate guidance information can be retrieved and presented without a sense of incongruity based on the measured position and orientation.
- the constituent elements other than the sensor data acquisition unit, the feature amount calculation unit, and the reliability calculation unit are arbitrary.
- the information presenting means may simply be a means for presenting guidance information to the user, but controls the guidance information presented to the user according to the level of reliability as described in the present embodiment. (Switching) is preferable.
- switching is preferable.
- the statistic is not particularly limited.
- a variance value, an average value, a maximum value, a minimum value, a median value, and the like of the plurality of sensor data. Can be given.
- the amount indicating the shape of the sensor data is not particularly limited.
- it may be a feature amount related to a waveform (for example, the number of peaks, an average peak interval, etc.).
- there are a plurality of types of the feature amounts and the reliability based on each feature amount is calculated, and each of the reliability levels is calculated. It is preferable to calculate the overall reliability (current reliability) based on the above.
- the sensor data may be once recorded (saved) in a file, a database, or the like, and acquired from the file, the database, or the like by the sensor data acquisition unit.
- the files, databases, etc. may be stored, for example, in the position information providing apparatus itself of the present invention, or may be stored in a server or the like different from the position information providing apparatus of the present invention.
- the first location information providing system of the present invention includes the position information providing device of the present invention and a server, and the server records the sensor data, and the sensor data acquisition
- the means acquires the sensor data from the server.
- the server may store a file, a database, or the like in which the sensor data is stored.
- the server may be a server connected to the Internet, and the sensor data may be uploaded to the server through the sensor and recorded (stored) in the server.
- the server in the first location information providing system of the present invention and the server in the second location information providing system of the present invention may be the same server. That is, the server in the first location information providing system of the present invention may also serve as the server in the second location information providing system of the present invention. Alternatively, the server in the first location information providing system of the present invention and the server in the second location information providing system of the present invention may be different servers.
- the server is not limited to the sensor data and the guidance information generation data, and any data may be recorded (saved).
- FIG. 8 is a block diagram schematically showing an example of the position information providing apparatus of this embodiment.
- the position information providing apparatus of the present embodiment (second embodiment) has a similarity calculation unit 170 instead of the feature amount calculation unit 120, and further includes a reference data storage unit 180.
- similarity is a kind of the feature amount. That is, in the apparatus of FIG. 8, the similarity calculation unit 170 is a feature amount calculation unit, but in the present embodiment, it is simply referred to as “similarity calculation unit” for convenience.
- the feature amount is in addition to or instead of the statistical amount of the plurality of sensor data and the amount indicating the shape of the sensor data, for example, as in the present embodiment, the sensor data acquisition step
- the degree of similarity between the sensor data acquired in step 1 and the reference data may be included.
- the sensor data acquired by the sensor data acquisition unit 110 is sensor data close to (similar to) the user's operation assumed in advance at the time of designing the device, and according to the degree (similarity).
- the reliability That is, when the user performs an operation different from the assumption (low similarity), it is considered that the reliability of the measurement result with respect to the position and orientation of the user (that is, the position information providing device) is low.
- the reference data storage unit 180 stores sensor data when a user's movement (that is, the position information providing apparatus) assumed in advance at the time of designing the apparatus is performed as reference sensor data. For example, when an operation of “walking” and “stop” is assumed at the time of designing the device, general sensor data when performing “walking” and “stop” is collected, as shown in FIG. The operation and sensor data are stored in the reference data storage unit 180 in association with each other.
- the similarity calculation unit 170 calculates the similarity between the sensor data acquired by the sensor data acquisition unit 110 and the reference data of each operation stored in the reference data storage unit 180.
- the similarity may be calculated by a generally known method. For example, Euclidean distance or cos similarity may be calculated as similarity using data of the same time window, or dynamic programming or dynamic time warping may be performed. A method for calculating the degree of similarity may be used.
- the reliability calculation unit 130 calculates the reliability based on the similarity with the reference data of each operation calculated by the similarity calculation unit 170. For example, the highest similarity may be used as the reliability as it is.
- the operation of the entire position information providing apparatus in FIG. 8 (this embodiment) (position information providing method of this embodiment) is performed by the similarity calculation means 170 using sensor data stored in the reference data storage means 180.
- This is different from the first embodiment in that the degree of similarity is calculated and the reliability calculation means 130 calculates the reliability using the similarity.
- the rest is the same as the first embodiment. That is, the operations in steps S001 to S005 and S008 to S010 in FIG. 9 can be performed in the same manner as in the first embodiment.
- step S106 is performed instead of step S006 of FIG. 5 (first embodiment). Specifically, in step S106, the similarity calculation unit 170 calculates the similarity between the sensor data stored in the buffer in step S003 and the reference data of each operation stored in the reference data storage unit 180. . As described above, step S106 is a feature amount calculation step, but in the present embodiment, it is referred to as a “similarity calculation step” for convenience.
- step S107 is performed instead of step S007 of FIG. 5 (first embodiment) as the reliability calculation step.
- the reliability calculation unit 130 calculates the reliability based on the similarity with the reference data of each operation calculated in step S106 (similarity calculation step).
- the operation of the entire position information providing apparatus in FIG. 8 (this embodiment) (the position information providing method of this embodiment) is performed by the similarity calculation means 170 using the data stored in the reference data storage means 180.
- the degree of similarity of sensor data is calculated using, and the reliability calculating unit 130 calculates the reliability using the similarity.
- the reference data storage unit 180 stores acceleration data and angular velocity data for a certain period for “stop”, “walk”, and “run” as indicated by 1000 in FIG. 10B as reference data. Think if you are.
- step S106 similarity calculation step in FIG. 9
- sensor data having the same length as the reference data stored in the reference data storage unit 180 is acquired from the buffer retroactively from the current time, and “stops” “walks”.
- the cos similarity with each reference data of “run” is calculated, and 1010 in FIG. 10C is obtained.
- step S107 the reliability calculation means 130 selects the highest similarity from the similarities to the actions calculated in step S106 and sets it as the reliability.
- the highest similarity is 0.9, so the reliability calculation means 130 selects this and sets the reliability to 0.9.
- the explanation has been made assuming the cos similarity, but other similarity calculation methods may be used.
- a method of calculating Euclidean distance or cos similarity as similarity using data of the same time window, or calculating similarity using dynamic programming or dynamic time warping may be used.
- the reference data is not limited to 1 operation 1 data.
- a plurality of data may be stored for one operation, a similarity with each data may be calculated, and an average value or a median value of all similarities may be similar to the operation.
- the position information providing apparatus includes a reliability calculation means (similarity calculation means) that can calculate the reliability based on a deviation from an operation that was assumed in advance when the apparatus was designed.
- the reliability of the posture measurement result can be calculated.
- accurate guidance information can be searched and presented based on the measured position and orientation without a sense of incongruity.
- FIG. 11 is a block diagram schematically showing an example of the position information providing apparatus of the present embodiment.
- the position information providing apparatus of FIG. 1 (first embodiment) is different from the first embodiment in that it further includes reliability storage means 190 and reliability integration calculation means 1100. Different from the providing device. Other than that, it is the same as the apparatus of FIG. 1 (first embodiment).
- guide information generation and information presentation are performed based on the reliability calculated by the reliability calculation means 130.
- the current reliability is newly calculated and used for generation of guidance information and information presentation.
- the reliability calculation unit 130 calculates the reliability based on the feature amount calculated by the feature amount calculation unit 120, as in the first embodiment.
- the reliability storage unit 190 stores the reliability calculated by the reliability calculation unit 130 together with the calculated time. More specifically, for example, time and reliability are stored in association with each other as indicated by 1200 in FIG. In 1200 in the figure, the elapsed time after the apparatus is started is used as the time, and the reliability of the time is stored.
- the reliability integration calculation unit 1100 calculates the current reliability using the reliability for a certain period stored in the reliability storage unit 190. Specifically, for example, an average value of reliability over a certain period in the past may be set as the current reliability, or the maximum reliability may be set as the current reliability.
- the guidance information generation unit 140 generates guidance information based on the current reliability calculated by the reliability integration calculation unit 1100 and the position and orientation measured by the position measurement unit 160.
- the information presentation unit 150 displays the guidance information generated by the guidance information generation unit 140 on the terminal (presents to the user) using the reliability calculated by the reliability integration calculation unit 1100.
- position information providing apparatus of this embodiment position information providing method
- the operation of the entire position information providing apparatus of this embodiment is guided using the current reliability calculated by the reliability integrated calculation unit 1100 instead of the reliability calculated by the reliability calculation unit 130.
- the point which performs an information generation step and an information presentation step differs from a 1st embodiment. Other than that, it can carry out similarly to 1st Embodiment.
- steps S001 to S007 and S010 in FIG. 9 are the same as those in the first embodiment.
- steps S301, S302, S308, and S309 are performed instead of steps S008 to S009 in FIG. 5 (first embodiment). That is, first, the reliability storage unit 190 stores the reliability calculated in step S007 (step S301: reliability storage step). Next, the reliability integration calculation unit 1100 generates (calculates) the current reliability using the reliability stored in step S301 and the past reliability stored in advance (step S302: reliability integration). Calculation step). Furthermore, the guidance information generation means 140 generates guidance information based on the reliability calculated in step S302 and the position and orientation measured in step S005 (step S308: guidance information generation step). Then, the information presentation unit 150 presents the guide information generated in step S308 to the user based on the reliability calculated in step S302 (step S309: information presentation step).
- the operation of the entire position information providing apparatus (position information providing method) of the present embodiment is the current reliability calculated by the reliability integrated calculation unit 1100 instead of the reliability calculated by the reliability calculation unit 130.
- the point which performs a guidance information generation step and an information presentation step using is different from the first embodiment.
- the reliability integrated calculation unit 1100 calculates the current reliability. The rest can be performed in the same manner as in the first embodiment.
- the reliability calculated by the reliability calculation unit 130 is set. Instead, the reliability calculated by the reliability integrated calculation unit 1100 is used. Other than that, it can carry out similarly to the guidance information generation step (step S008 of FIG. 5) and information presentation step (step S009 of FIG. 5) in the first embodiment.
- step S301 in FIG. 13 the reliability calculated by the reliability calculation means 130 is stored in the reliability storage means 190.
- the reliability storage means 190 it is assumed that past reliability is stored in advance in the reliability storage unit 190, as indicated by 1200 in FIG.
- FIG. 12 shows a case where the reliability storage unit 190 stores time 140 [s] and reliability 0.8 as the latest reliability.
- the reliability integrated calculation unit 1100 calculates the current reliability based on the past reliability stored in advance in the reliability storage unit 190 and the reliability calculated by the reliability calculation unit 130. To do.
- the reliability integrated calculation unit 1100 may calculate the current reliability by multiplying all past reliability.
- step S309 information presentation step
- the reference point entrance and the position and orientation are preliminarily determined.
- To a known marker or the like can be guided so that the position and orientation can be measured with high accuracy.
- an information presentation method at this time for example, there is a method by display on AR as shown in FIG. 14A, a method by display using a map as shown in FIG.
- the reference point that is, the position information providing apparatus
- all the reliability stored in the reliability storage unit 190 is deleted or moved to another database or the like, A new degree of reliability may be stored.
- the average value or product of past reliability levels is used as the reliability calculation method of the reliability integrated calculation unit 1100.
- other methods may be used. For example, a median value, a maximum value, a minimum value, or the like may be used.
- the reliability calculated by the reliability integrated calculation unit 1100 may be further stored in the reliability storage unit 190 and used for calculation of the reliability.
- the current reliability is calculated in consideration of the past reliability, it is possible to avoid a situation where the reliability is accidentally increased or decreased, and the reliability can be calculated with high accuracy.
- the reliability can be calculated with high accuracy.
- grasping the decrease in reliability it is possible to guide the user to a reference point and continuously perform services such as information distribution and navigation based on highly accurate position and orientation measurement.
- the reliability is calculated using the feature amount of the sensor data as described above, and in the second embodiment, the reliability is calculated using the similarity as the feature amount. May be calculated and integrated. For example, the average of both reliability may be used as the current reliability, or the higher reliability may be used as the current reliability.
- the method of storing the reliability calculated in the first embodiment and calculating the current reliability has been described. However, the reliability calculated in the second embodiment is stored. The current reliability may be calculated, or the reliability calculated by combining both the reliability of the first embodiment and the second embodiment may be stored to calculate the current reliability. .
- the present invention can be applied to, for example, information distribution within a store, particularly tourism information distribution, advertisement distribution, and navigation, but is not limited to this, and may be used for any purpose. Further, as described above, the present invention can be applied to both indoors and outdoors.
- (Appendix 1) Sensor data acquisition means for acquiring sensor data; A feature amount calculating means for calculating a feature amount from the sensor data; Reliability calculation means for calculating reliability using the feature amount; With The sensor data is plural, The position information providing apparatus, wherein the feature amount includes a statistic amount of the plurality of sensor data and an amount indicating a shape of the sensor data.
- the reliability calculation means calculates the reliability using at least one selected from the group consisting of the variance value, the average value, the maximum value, the minimum value, and the median value. Location information providing device.
- the shape of the sensor data is a waveform
- the position information providing apparatus according to any one of appendices 1 to 4, wherein the amount indicating the shape of the sensor data includes at least one of a peak of the waveform and a peak interval.
- Appendix 7 Furthermore, it comprises a reference data storage means for storing sensor data when performing a specific action as reference data, In addition to or instead of the statistical amount of the plurality of sensor data and the amount indicating the shape of the sensor data, the feature amount is a similarity between the sensor data acquired by the sensor data acquisition unit and the reference data. Including The position information providing apparatus according to any one of appendices 1 to 6, wherein the reliability calculation means calculates the reliability using the similarity.
- the position information providing apparatus according to any one of appendices 1 to 8, further comprising: an integrated reliability calculation unit that calculates a current reliability using the reliability stored in the reliability storage unit.
- the reliability stored by the reliability storage means is plural, The position information providing apparatus according to appendix 9, wherein the reliability integration calculation unit calculates the current reliability using an average or product of the reliability stored in the reliability storage unit.
- Appendix 11 In addition, including a sensor, 11.
- the position information providing apparatus according to any one of appendices 1 to 10, wherein the sensor generates the sensor data based on a position and an attitude of the position information providing apparatus.
- Appendix 12 A location information providing device according to any one of appendices 1 to 11, and a server;
- the server records the sensor data,
- the position information providing apparatus further includes guide information generation data acquisition means for acquiring the guide information generation data from the server, The position information providing system, wherein the guide information generating means further generates the guide information using the guide information generation data.
- the location information providing device is the location information providing device according to appendix 2, Further, a position measuring step for measuring the position and orientation of the position information providing device by autonomous navigation using the sensor data by the position measuring means, The guidance information generation means sets the search range in the space around the position information providing device using the position and orientation and the reliability, and searches for geographic information included in the search range, thereby enabling the user to A guide information generation step for generating guide information to be presented to 15.
- the location information providing device is the location information providing device according to appendix 3, The position according to claim 14 or 15, wherein the statistic includes at least one selected from the group consisting of a variance value, an average value, a maximum value, a minimum value, and a median value of the plurality of sensor data. Information provision method.
- the location information providing device is the location information providing device according to appendix 4,
- the reliability level is calculated using at least one selected from the group consisting of the variance value, the average value, the maximum value, the minimum value, and the median value in the reliability level calculation step. Location information provision method.
- the position information providing device is the position information providing device according to appendix 5,
- the shape of the sensor data is a waveform, 18.
- the location information providing device is the location information providing device according to appendix 6, The position information providing method according to claim 18, wherein in the reliability calculation step, the reliability is calculated using at least one of a peak of the waveform and a peak interval.
- the location information providing device is the location information providing device according to appendix 7, Further, the reference data storage means includes a reference data storage step for storing sensor data as a reference data when performing a specific action, In addition to or instead of the statistical amount of the plurality of sensor data and the amount indicating the shape of the sensor data, the feature amount is a similarity between the sensor data acquired in the sensor data acquisition step and the reference data. Including 20. The position information providing method according to any one of appendices 14 to 19, wherein, in the reliability calculation step, the reliability is calculated using the similarity.
- the location information providing device is the location information providing device according to appendix 8, The location information providing method according to claim 20, wherein, in the reliability calculation step, the reliability is calculated using a maximum value of the similarity.
- the location information providing device is the location information providing device according to appendix 9, And a reliability storage step of storing the reliability by the reliability storage means;
- the reliability integrated calculation means includes a reliability integrated calculation step of calculating a current reliability using the reliability stored in the reliability storage means, according to any one of appendixes 14 to 21, Location information provision method.
- the location information providing device is the location information providing device according to appendix 10,
- the reliability stored in the reliability storage step is plural, 23.
- the position information providing method according to appendix 22 wherein, in the integrated reliability calculation step, the current reliability is calculated using an average or product of the reliability stored in the reliability storage step.
- the position information providing device is the position information providing device according to appendix 11, The position information providing method according to any one of appendices 14 to 23, further comprising a sensor data generation step in which the sensor generates the sensor data based on the position and orientation of the position information providing apparatus.
- Appendix 25 Using the location information providing system described in appendix 12, 25.
- the position information providing method according to any one of appendices 14 to 24, wherein, in the sensor data acquisition step, the sensor data acquisition unit acquires the sensor data from the server.
- the guide information generation data acquisition means includes a guide information generation data acquisition step of acquiring the guide information generation data from the server, 26.
- the location information providing method according to any one of appendices 14 to 25, wherein, in the guide information generating step, the guide information generating means further generates the guide information using the guide information generating data. .
- Appendix 27 A program characterized in that the position information presentation method according to any one of appendices 14 to 26 can be executed on a computer.
- Appendix 28 A recording medium that records the program according to appendix 27 and is readable by a computer.
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Abstract
Description
センサデータを取得するセンサデータ取得手段と、
前記センサデータから特徴量を算出する特徴量算出手段と、
前記特徴量を用いて信頼度を算出する信頼度算出手段と、
を備え、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする。
前記本発明の位置情報提供装置と、サーバとを備え、
前記サーバは、前記センサデータを記録しており、
前記センサデータ取得手段が、前記サーバから前記センサデータを取得することを特徴とする。
前記本発明の位置情報提供装置と、サーバとを備え、
前記サーバは、案内情報生成用データを記録しており、
前記位置情報提供装置は、さらに、前記センサデータを用いて、自律航法により前記位置情報提供装置の位置及び姿勢を計測する位置計測手段と、
前記位置及び姿勢と前記信頼度とを用いて前記位置情報提供装置周囲の空間中の検索範囲を設定し、前記検索範囲に含まれる地理情報を検索することにより、ユーザに提示するための案内情報を生成する案内情報生成手段と、
前記案内情報をユーザに提示する情報提示手段と、
前記サーバから前記案内情報生成用データを取得する案内情報生成用データ取得手段とを備え、
前記案内情報生成手段が、さらに、前記案内情報生成用データを用いて前記案内情報を生成することを特徴とする。
前記本発明の位置情報提供装置を用い、
前記センサデータ取得手段によりセンサデータを取得するセンサデータ取得ステップと、
前記特徴量算出手段により、前記センサデータから特徴量を算出する特徴量算出ステップと、
前記信頼度算出手段により、前記特徴量を用いて信頼度を算出する信頼度算出ステップと、
を含み、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする。
まず、本発明の第1の実施形態について説明する。
次に、本発明の第2の実施形態について説明する。
次に、本発明の第3の実施形態について説明する。
センサデータを取得するセンサデータ取得手段と、
前記センサデータから特徴量を算出する特徴量算出手段と、
前記特徴量を用いて信頼度を算出する信頼度算出手段と、
を備え、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする位置情報提供装置。
さらに、前記センサデータを用いて、自律航法により前記位置情報提供装置の位置及び姿勢を計測する位置計測手段と、
前記位置及び姿勢と前記信頼度とを用いて前記位置情報提供装置周囲の空間中の検索範囲を設定し、前記検索範囲に含まれる地理情報を検索することにより、ユーザに提示するための案内情報を生成する案内情報生成手段と、
前記案内情報をユーザに提示する情報提示手段とを備えたことを特徴とする付記1記載の位置情報提供装置。
前記統計量が、前記複数のセンサデータの分散値、平均値、最大値、最小値、及び中央値からなる群から選択される少なくとも一つを含むことを特徴とする付記1又は2記載の位置情報提供装置。
前記信頼度算出手段が、前記分散値、平均値、最大値、最小値、及び中央値からなる群から選択される少なくとも一つを用いて信頼度を算出することを特徴とする付記3記載の位置情報提供装置。
前記センサデータの形状が、波形であり、
前記センサデータの形状を示す量が、前記波形のピーク及びピーク間隔の少なくとも一方を含むことを特徴とする付記1から4のいずれかに記載の位置情報提供装置。
前記信頼度算出手段が、前記波形のピーク及びピーク間隔の少なくとも一方を用いて前記信頼度を算出することを特徴とする付記5記載の位置情報提供装置。
さらに、特定の行動をした際のセンサデータを参照データとして記憶する参照データ記憶手段を備え、
前記特徴量が、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量に加え、又はこれらに代えて、前記センサデータ取得手段により取得されたセンサデータと前記参照データとの類似度を含み、
前記信頼度算出手段が、前記類似度を用いて前記信頼度を算出することを特徴とする付記1から6のいずれかに記載の位置情報提供装置。
前記信頼度算出手段が、前記類似度の最大値を用いて前記信頼度を算出することを特徴とする付記7記載の位置情報提供装置。
さらに、前記信頼度を記憶する信頼度記憶手段と、
前記信頼度記憶手段が記憶する信頼度を用いて現在の信頼度を算出する信頼度統合算出手段とを備えることを特徴とする付記1から8のいずれかに記載の位置情報提供装置。
前記信頼度記憶手段が記憶する信頼度が、複数であり、
前記信頼度統合算出手段が、前記信頼度記憶手段が記憶する信頼度の平均又は積を用いて現在の信頼度を算出することを特徴とする付記9記載の位置情報提供装置。
さらに、センサを含み、
前記センサが、前記位置情報提供装置の位置及び姿勢に基づき、前記センサデータを生成することを特徴とする付記1から10のいずれかに記載の位置情報提供装置。
付記1から11のいずれかに記載の位置情報提供装置と、サーバとを備え、
前記サーバは、前記センサデータを記録しており、
前記センサデータ取得手段が、前記サーバから前記センサデータを取得することを特徴とする位置情報提供システム。
付記2から11のいずれかに記載の位置情報提供装置と、サーバとを備え、
前記サーバは、案内情報生成用データを記録しており、
前記位置情報提供装置は、さらに、前記サーバから前記案内情報生成用データを取得する案内情報生成用データ取得手段を備え、
前記案内情報生成手段が、さらに、前記案内情報生成用データを用いて前記案内情報を生成することを特徴とする位置情報提供システム。
付記1記載の位置情報提供装置を用い、
前記センサデータ取得手段によりセンサデータを取得するセンサデータ取得ステップと、
前記特徴量算出手段により、前記センサデータから特徴量を算出する特徴量算出ステップと、
前記信頼度算出手段により、前記特徴量を用いて信頼度を算出する信頼度算出ステップと、
を含み、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする位置情報提供方法。
前記位置情報提供装置が、付記2記載の位置情報提供装置であり、
さらに、前記位置計測手段により、前記センサデータを用いて、自律航法により前記位置情報提供装置の位置及び姿勢を計測する位置計測ステップと、
前記案内情報生成手段により、前記位置及び姿勢と前記信頼度とを用いて前記位置情報提供装置周囲の空間中の検索範囲を設定し、前記検索範囲に含まれる地理情報を検索することにより、ユーザに提示するための案内情報を生成する案内情報生成ステップと、
前記情報提示手段により、前記案内情報をユーザに提示する情報提示ステップとを含むことを特徴とする付記14記載の位置情報提供方法。
前記位置情報提供装置が、付記3記載の位置情報提供装置であり、
前記統計量が、前記複数のセンサデータの分散値、平均値、最大値、最小値、及び中央値からなる群から選択される少なくとも一つを含むことを特徴とする付記14又は15記載の位置情報提供方法。
前記位置情報提供装置が、付記4記載の位置情報提供装置であり、
前記信頼度算出ステップにおいて、前記分散値、平均値、最大値、最小値、及び中央値からなる群から選択される少なくとも一つを用いて信頼度を算出することを特徴とする付記16記載の位置情報提供方法。
前記位置情報提供装置が、付記5記載の位置情報提供装置であり、
前記センサデータの形状が、波形であり、
前記センサデータの形状を示す量が、前記波形のピーク及びピーク間隔の少なくとも一方を含むことを特徴とする付記14から17のいずれかに記載の位置情報提供方法。
前記位置情報提供装置が、付記6記載の位置情報提供装置であり、
前記信頼度算出ステップにおいて、前記波形のピーク及びピーク間隔の少なくとも一方を用いて前記信頼度を算出することを特徴とする付記18記載の位置情報提供方法。
前記位置情報提供装置が、付記7記載の位置情報提供装置であり、
さらに、前記参照データ記憶手段により、特定の行動をした際のセンサデータを参照データとして記憶する参照データ記憶ステップを含み、
前記特徴量が、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量に加え、又はこれらに代えて、前記センサデータ取得ステップにおいて取得されたセンサデータと前記参照データとの類似度を含み、
前記信頼度算出ステップにおいて、前記類似度を用いて前記信頼度を算出することを特徴とする付記14から19のいずれかに記載の位置情報提供方法。
前記位置情報提供装置が、付記8記載の位置情報提供装置であり、
前記信頼度算出ステップにおいて、前記類似度の最大値を用いて前記信頼度を算出することを特徴とする付記20記載の位置情報提供方法。
前記位置情報提供装置が、付記9記載の位置情報提供装置であり、
さらに、前記信頼度記憶手段により前記信頼度を記憶する信頼度記憶ステップと、
前記信頼度統合算出手段により、前記信頼度記憶手段が記憶する信頼度を用いて現在の信頼度を算出する信頼度統合算出ステップとを含むことを特徴とする付記14から21のいずれかに記載の位置情報提供方法。
前記位置情報提供装置が、付記10記載の位置情報提供装置であり、
前記信頼度記憶ステップにおいて記憶する信頼度が、複数であり、
前記信頼度統合算出ステップにおいて、前記信頼度記憶ステップが記憶する信頼度の平均又は積を用いて現在の信頼度を算出することを特徴とする付記22記載の位置情報提供方法。
前記位置情報提供装置が、付記11記載の位置情報提供装置であり、
さらに、前記センサが、前記位置情報提供装置の位置及び姿勢に基づき、前記センサデータを生成するセンサデータ生成ステップを含むことを特徴とする付記14から23のいずれかに記載の位置情報提供方法。
付記12記載の位置情報提供システムを用い、
前記センサデータ取得ステップにおいて、前記センサデータ取得手段が、前記サーバから前記センサデータを取得することを特徴とする付記14から24のいずれかに記載の位置情報提供方法。
付記13記載の位置情報提供システムを用い、
さらに、前記案内情報生成用データ取得手段が前記サーバから前記案内情報生成用データを取得する案内情報生成用データ取得ステップを含み、
前記案内情報生成ステップにおいて、前記案内情報生成手段が、さらに、前記案内情報生成用データを用いて前記案内情報を生成することを特徴とする付記14から25のいずれかに記載の位置情報提供方法。
付記14から26のいずれかに記載の位置情報提示方法をコンピュータ上で実行可能なことを特徴とするプログラム。
付記27記載のプログラムを記録しており、コンピュータで読み取り可能であることを特徴とする記録媒体。
110 センサデータ取得手段
120 特徴量算出手段
130 信頼度算出手段
140 案内情報生成手段
150 情報提示手段
160 位置計測手段
170 類似度算出手段
180 参照データ記憶手段
190 信頼度記憶手段
201 信頼度が低いときの検索範囲
202 信頼度が高いときの検索範囲
203 推定位置・姿勢
210 検索範囲
220 検索範囲
300 画面
310 画面
600 特徴量
610 信頼度
620 信頼度
630 信頼度
700 信頼度
1000 参照データ
1010 類似度
1100 信頼度統合算出手段
1200 信頼度記憶手段が記憶している信頼度
Claims (10)
- センサデータを取得するセンサデータ取得手段と、
前記センサデータから特徴量を算出する特徴量算出手段と、
前記特徴量を用いて信頼度を算出する信頼度算出手段と、
を備え、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする位置情報提供装置。 - さらに、前記センサデータを用いて、自律航法により前記位置情報提供装置の位置及び姿勢を計測する位置計測手段と、
前記位置及び姿勢と前記信頼度とを用いて前記位置情報提供装置周囲の空間中の検索範囲を設定し、前記検索範囲に含まれる地理情報を検索することにより、ユーザに提示するための案内情報を生成する案内情報生成手段と、
前記案内情報をユーザに提示する情報提示手段とを備えたことを特徴とする請求項1記載の位置情報提供装置。 - さらに、特定の行動をした際のセンサデータを参照データとして記憶する参照データ記憶手段を備え、
前記特徴量が、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量に加え、又はこれらに代えて、前記センサデータ取得手段により取得されたセンサデータと前記参照データとの類似度を含み、
前記信頼度算出手段が、前記類似度を用いて前記信頼度を算出することを特徴とする請求項1又は2に記載の位置情報提供装置。 - さらに、前記信頼度を記憶する信頼度記憶手段と、
前記信頼度記憶手段が記憶する信頼度を用いて現在の信頼度を算出する信頼度統合算出手段とを備えることを特徴とする請求項1から3のいずれか一項に記載の位置情報提供装置。 - さらに、センサを含み、
前記センサが、前記位置情報提供装置の位置及び姿勢に基づき、前記センサデータを生成することを特徴とする請求項1から4のいずれか一項に記載の位置情報提供装置。 - 請求項1から5のいずれか一項に記載の位置情報提供装置と、サーバとを備え、
前記サーバは、前記センサデータを記録しており、
前記センサデータ取得手段が、前記サーバから前記センサデータを取得することを特徴とする位置情報提供システム。 - 請求項2から5のいずれか一項に記載の位置情報提供装置と、サーバとを備え、
前記サーバは、案内情報生成用データを記録しており、
前記位置情報提供装置は、さらに、前記サーバから前記案内情報生成用データを取得する案内情報生成用データ取得手段を備え、
前記案内情報生成手段が、さらに、前記案内情報生成用データを用いて前記案内情報を生成することを特徴とする位置情報提供システム。 - 請求項1記載の位置情報提供装置を用い、
前記センサデータ取得手段によりセンサデータを取得するセンサデータ取得ステップと、
前記特徴量算出手段により、前記センサデータから特徴量を算出する特徴量算出ステップと、
前記信頼度算出手段により、前記特徴量を用いて信頼度を算出する信頼度算出ステップと、
を含み、
前記センサデータは、複数であり、
前記特徴量は、前記複数のセンサデータの統計量及び前記センサデータの形状を示す量を含むことを特徴とする位置情報提供方法。 - 請求項8記載の位置情報提示方法をコンピュータ上で実行可能なことを特徴とするプログラム。
- 請求項9記載のプログラムを記録しており、コンピュータで読み取り可能であることを特徴とする記録媒体。
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