Pose estimation system and pose estimation method

Abstract

The present application provides a posture estimation system and a posture estimation method. The present application aims to continue estimating the posture of a user even after the user moves floors. A posture estimation device includes a user-side air pressure value acquisition unit that acquires a user-side air pressure value output by a wearable sensor worn on the torso of a user, a reference-side air pressure value acquisition unit that acquires a reference-side air pressure value output by a reference-side air pressure sensor provided in a medical institution, and a posture estimation unit that estimates the posture of the user based on an air pressure difference between the user-side air pressure value and the reference-side air pressure value. The posture estimation device estimates that the initial posture of the user after moving floors is the same as the final posture of the user before moving floors when it is detected that the user has moved floors within the medical institution.

Description

Technical Field

[0001] This invention relates to a pose estimation system and a pose estimation method. Background Technology

[0002] Patent document 1 discloses the following technology: by wearing a barometric pressure sensor on a user, estimating the user's posture, and detecting the user's behavior when going up and down stairs, etc.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-137801 Summary of the Invention In Patent Document 1, the user's posture cannot be estimated after the user moves to a different floor.

[0004] The purpose of this invention is to provide a technique for continuing to estimate the user's posture even after the user has moved to a different floor.

[0005] A posture estimation system is provided, comprising: a user-side air pressure value acquisition unit, which acquires the user-side air pressure value output by a user-side air pressure detector worn by the user; a reference-side air pressure value acquisition unit, which acquires the reference-side air pressure value output by a reference-side air pressure detector installed in a multi-story building; and a posture estimation unit, which estimates the user's posture based on the air pressure difference between the user-side air pressure value and the reference-side air pressure value. When the posture estimation unit detects that the user has moved between floors in the multi-story building, it estimates that the user's initial posture after the floor movement is the same as the user's final posture before the floor movement. Based on this structure, the user's posture can continue to be estimated even after the user has moved between floors.

[0006] The posture estimation unit can estimate the user's next posture after the floor movement based on the user's initial posture after the floor movement and the change in air pressure difference after the floor movement. Based on this structure, the user's next posture after a floor movement can be estimated.

[0007] If the posture estimation unit cannot estimate the user's next posture after the floor movement, it can correct the user's initial posture after the floor movement to a posture different from the user's last posture before the floor movement. Based on this structure, the estimation of the user's initial posture after the floor movement can be corrected.

[0008] If the posture estimation unit cannot estimate the user's next posture after the floor movement, it can correct the user's initial posture after the floor movement to match the change in air pressure difference after the floor movement. Based on this structure, the estimation of the user's initial posture after the floor movement can be corrected.

[0009] A posture estimation method is provided, comprising a computer performing the following processing: acquiring a user-side air pressure value output by a user-side barometric pressure detector worn by the user; acquiring a reference-side air pressure value output by a reference-side barometric pressure detector installed in a multi-story building; and estimating the user's posture based on the pressure difference between the user-side air pressure value and the reference-side air pressure value. In the estimation, if the user is detected to have moved between floors within the multi-story building, the user's initial posture after the floor movement is estimated to be the same as the user's final posture before the floor movement. According to this method, the user's posture can continue to be estimated even after the user has moved between floors.

[0010] Invention Effects According to the present invention, the user's posture can continue to be estimated even after the user has moved to a different floor. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a pose estimation system.

[0012] Figure 2 It's a chart of air pressure differences.

[0013] Figure 3 This is a functional block diagram of the pose estimation device.

[0014] Figure 4 This is the control flow of the attitude estimation device.

[0015] Figure 5 This is the control flow of the attitude estimation device.

[0016] Figure 6 This is the control flow of the attitude estimation device.

[0017] Figure 7 This is the control flow of the attitude estimation device. Detailed Implementation

[0018] The present invention will now be described through embodiments thereof, but the invention as described in the claims is not limited to these embodiments. Furthermore, not all structures described in the embodiments are necessarily necessary as means of solving the problem. For clarity, the following descriptions and drawings have been appropriately omitted and simplified. In the drawings, the same symbols are used to denote the same elements, and repeated descriptions are omitted as necessary.

[0019] In the following embodiments, for convenience, they are described in multiple sections or embodiments when necessary. However, unless otherwise specified, they are unrelated to each other, and one relates to a part or all of the variations, applications, detailed descriptions, or supplementary descriptions of another. Furthermore, in the following embodiments, when referring to the quantity of elements (including number, value, quantity, range, etc.), the quantity is not limited to that specific quantity, except in particularly explicit cases or cases where it is clearly limited to a specific quantity in principle. It can be more than or less than that specific quantity.

[0020] Furthermore, in the following embodiments, unless specifically stated otherwise or clearly necessary in principle, the constituent elements (including operational steps, etc.) are not necessarily essential. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc., of constituent elements, etc., it substantially includes elements that are close to or similar in shape, except in particularly explicit cases or cases that are clearly not considered to be true in principle. The same applies to the quantities, etc. (including quantity, numerical value, amount, and range) mentioned above.

[0021] The following is for reference. Figures 1 to 7 The embodiments of the present invention will be described below. Figure 1 This is a schematic diagram of pose estimation system 1. (e.g.) Figure 1As shown, the posture estimation system 1 includes a wearable sensor 2 worn on the torso B of user P, a reference side barometric pressure sensor 3 installed in medical facility M, and a posture estimation device 4 (posture estimation system). The posture estimation device 4 estimates the posture of user P based on the pressure difference between the user-side barometric pressure value output by wearable sensor 2 and the reference side barometric pressure value output by reference side barometric pressure sensor 3. Wearable sensor 2 is a specific example of a user-side barometric pressure detector. Reference side barometric pressure sensor 3 is a specific example of a reference side barometric pressure detector. Medical facility M is a specific example of a multi-story building. A multi-story building is a building with multiple floors. Multi-story buildings are not limited to medical facility M; for example, they can also be office buildings or high-rise apartments. Typically, wearable sensor 2 and reference side barometric pressure sensor 3 are configured to communicate bidirectionally with posture estimation device 4 via short-range wireless communication technologies such as Bluetooth (registered trademark), Near Field Communication (NFC), or Wireless Fidelity (Wi-Fi, registered trademark).

[0022] In this embodiment, the medical facility M is a multi-story building with five floors, from the 1st to the 5th floor. As an example, the posture estimation device 4 is installed on the 2nd floor. However, it is not limited to this; the posture estimation device 4 can be installed on other floors, or on the roof or exterior of the medical facility M.

[0023] In this embodiment, chairs C1 and C5 are respectively installed on the 1st and 5th floors of the medical institution M. The reference-side barometric pressure sensor 3 is installed near the floor F1 on the 1st floor of the medical institution M on chair C1. However, it is not limited to this; the reference-side barometric pressure sensor 3 can be directly installed on the floor F1 on the 1st floor of the medical institution M, or it can be installed on a wall on the 1st floor, or it can be installed on furniture such as a bed or shelf on the 1st floor. Furthermore, the reference-side barometric pressure sensor 3 can also be installed on another floor, such as the 2nd or 3rd floor, instead of on the 1st floor of the medical institution M.

[0024] exist Figure 1 As an example, the text illustrates the action of user P, who is sitting in chair C1 on the 1st floor, standing up, taking elevator E to the 5th floor, and sitting in chair C5 on the 5th floor. User P1 represents user P sitting in chair C1 on the 1st floor, user P2 represents user P standing up from chair C1, and user P3 represents user P moving from the 1st floor to the 5th floor in elevator E. Similarly, user P4 represents user P coming down from elevator E, and user P5 represents user P sitting in chair C5 on the 5th floor. Users P1 through P5 refer to the same person.

[0025] exist Figure 2 As shown in the figure Figure 1The pressure difference Δp between the user-side air pressure value and the reference-side air pressure value when user P moves is shown. Figure 2 The horizontal axis represents time, and the vertical axis represents the pressure difference Δp. In this embodiment, as an example, the pressure difference Δp is calculated by subtracting the user-side pressure value from the reference-side pressure value. Figure 1 As shown, the reference-side air pressure sensor 3 is located near the floor F1 on the first floor. Therefore, if user P stands up from a sitting position on chair C1, the air pressure difference Δp increases. Furthermore, if user P assumes a lying position on bed F1, the air pressure difference Δp becomes almost zero. Thus, if user P's posture changes, the air pressure difference Δp changes, allowing the estimation of user P's posture based on the air pressure difference Δp. (See below for reference.) Figure 2 The relationship between changes in user P's posture and changes in air pressure difference Δp is explained in detail.

[0026] exist Figure 2 In the above scenario, from time t0 to time t1, user P adopts a sitting posture on chair C1 on the first floor. At this time, the air pressure difference Δp becomes air pressure difference Δp1. The posture estimation device 4 estimates user P's posture from time t0 to time t1 as a sitting posture, based on the reason that air pressure difference Δp1 is greater than the threshold Th1 between lying and sitting postures and less than the threshold Th2 between sitting and standing postures.

[0027] From time t1 to time t2, user P stands up from chair C1 on the first floor. From time t2 to time t3, user P remains standing on the first floor. At this time, the air pressure difference Δp becomes air pressure difference Δp2. The posture estimation device 4 estimates user P's posture from time t2 to time t3 as standing, based on the reason that air pressure difference Δp2 is greater than the threshold Th2 between sitting and standing postures.

[0028] The above posture estimation assumes that user P does not move between floors. That is, if the user moves between floors, such as Figure 2 As shown in the diagram from time t3 to time t4, the air pressure difference Δp changes drastically from air pressure difference Δp2 to air pressure difference Δp3. Therefore, there is a problem that the posture of user P cannot be estimated after the floor is moved. This is because, regardless of the posture of user P after the floor is moved, the air pressure difference Δp will be greater than the threshold Th2 between sitting and standing postures, so the posture of user P will always be estimated as standing.

[0029] Therefore, in this embodiment, when the posture estimation device 4 detects that user P has moved between floors within the medical facility M, it estimates that user P's initial posture after the floor movement is the same as user P's final posture before the floor movement. Then, the posture estimation device 4 continues to estimate user P's posture based on user P's initial posture after the floor movement and the change in air pressure difference Δp after the floor movement.

[0030] When the pressure difference Δp varies by a predetermined value, such as from time t3 to time t4, the posture estimation device 4 detects the floor movement of user P within the medical facility M. Then, if user P's last posture before the floor movement at time t3 was standing, the posture estimation device 4 estimates that user P's initial posture after the floor movement at time t4 is also standing. That is, this is because it is considered that user P's posture is the same when riding elevator E.

[0031] Then, when the user P's initial posture after the floor movement is standing and the air pressure difference Δp changes from air pressure difference Δp3 to air pressure difference Δp4 between time t5 and time t6 after the floor movement, the posture estimation device 4 estimates the user P's next posture after the floor movement based on the change range ΔΔp34 of the air pressure difference Δp between time t5 and time t6.

[0032] Next, refer to Figure 3 The functional block diagram of the above-mentioned attitude estimation device 4 will be explained. Figure 3 This is a functional block diagram of the pose estimation device 4. (Example:) Figure 3 As shown, the posture estimation device 4 includes a processor 4a, a memory 4b, a communication interface 4c, an input interface 4d, and a liquid crystal display (LCD) 4e. The processor 4a can access the memory 4b. The processor 4a communicates with the wearable sensor 2 or the reference-side barometric pressure sensor 3 via the communication interface 4c. The processor 4a reads and executes the program stored in the memory 4b. Thus, the processor 4a, memory 4b, communication interface 4c, and other hardware function as the user-side barometric pressure acquisition unit 10, the reference-side barometric pressure acquisition unit 11, the posture estimation unit 12, and the determination result output unit 13. The posture estimation device 4 can be a single device or implemented through distributed processing using multiple devices.

[0033] User-side air pressure acquisition unit 10 acquires user-side air pressure values ​​from wearable sensor 2. User-side air pressure acquisition unit 10 is a specific example of a user-side air pressure acquisition unit.

[0034] The reference side air pressure value acquisition unit 11 acquires the reference side air pressure value from the reference side air pressure sensor 3. The reference side air pressure value acquisition unit 11 is a specific example of a reference side air pressure value acquisition unit.

[0035] The attitude estimation unit 12 estimates the attitude of user P based on the pressure difference Δp between the user-side air pressure value and the reference-side air pressure value. The attitude estimation unit 12 is a specific example of an attitude estimation unit.

[0036] The determination result output unit 13 stores the estimation result of the posture estimation unit 12 in the memory 4b or outputs it to the LCD 4e.

[0037] Next, refer to Figure 4 The operation process of the pose estimation device 4 is explained. Figure 4 This describes the operation flow of the pose estimation device 4.

[0038] First, the user-side air pressure acquisition unit 10 acquires the user-side air pressure value from the wearable sensor 2 (S100). Next, the reference-side air pressure acquisition unit 11 acquires the reference-side air pressure value from the reference-side air pressure sensor 3 (S110). Next, the posture estimation unit 12 calculates the air pressure difference Δp between the user-side air pressure value and the reference-side air pressure value (S120). Next, the posture estimation unit 12 determines whether the user P has moved to a different floor based on the change in air pressure difference Δp (S130). If the posture estimation unit 12 does not detect any floor movement by the user P (S130: No), it estimates the posture of the user P based on the air pressure difference Δp (S140). Then, the determination result output unit 13 stores the estimation result of the posture estimation unit 12 in the memory 4b or outputs it to the LCD 4e (S150), and returns the processing to step S100.

[0039] On the other hand, when a floor movement of user P is detected (S130: Yes), the posture estimation unit 12 estimates the initial posture of user P after the floor movement (S160). Specifically, as described above, the posture estimation unit 12 estimates the initial posture of user P after the floor movement as being the same as the final posture of user P after the floor movement. Then, the posture estimation unit 12 causes the process to proceed to step S150.

[0040] Next, refer to Figures 5 to 7 The operation process of the posture estimation device 4 after the floor movement is further explained in detail.

[0041] As described above, the posture estimation unit 12 estimates the user P's next posture after the floor movement based on the user P's initial posture after the floor movement and the change in air pressure difference Δp after the floor movement. The posture estimation unit 12 continues to estimate the user P's posture after the floor movement based on the user P's initial posture after the floor movement and the change in air pressure difference Δp after the floor movement. However, the above estimation is based on the tendency for the user P's posture to be the same when entering and exiting elevator E. When the user P's posture differs between entering and exiting elevator E, it is sometimes impossible to estimate the user P's next posture after the floor movement. For example, if the user P's last posture before the floor movement was standing, and the air pressure difference Δp increases due to the floor movement, and the air pressure difference Δp further increases after the floor movement, the user P's posture may not fall into the options of standing, sitting, or lying down. Therefore, when the user P's next posture after the floor movement cannot be estimated, the posture estimation unit 12 corrects the user P's initial posture after the floor movement to a posture different from the user P's last posture before the floor movement. More specifically, when the posture estimation unit 12 cannot estimate the next posture of user P after the floor movement, it corrects the initial posture of user P after the floor movement by matching the initial posture of user P after the floor movement with the change in air pressure difference Δp after the floor movement. Hereinafter, refer to... Figures 5 to 7 Based on the initial posture of user P after the floor movement, the case is classified, and a specific example of the correction based on the posture estimation unit 12 is explained. Furthermore, in Figures 5 to 7 In the text, "the first" is marked as "the 1st".

[0042] (The case where user P's first posture after moving to a different floor is standing) Figure 5 This describes the action flow of the posture estimation device 4, indicating that the first posture of user P after moving to a different floor is a standing posture. For example... Figure 5 As shown, when the air pressure difference Δp decreases after the floor movement, the posture estimation unit 12 estimates the second posture of the user P after the floor movement to be a sitting posture, based on the fact that the first posture of the user P after the floor movement is a standing posture and the change in air pressure difference Δp after the floor movement is reduced (S200). Then, further when the air pressure difference Δp decreases, the posture estimation unit 12 estimates the third posture of the user P after the floor movement to be a lying posture, based on the fact that the second posture of the user P after the floor movement is a sitting posture and the change in air pressure difference Δp after the floor movement is reduced (S210).

[0043] In contrast, when the air pressure difference Δp increases after the floor movement, the posture estimation unit 12 cannot estimate the second posture of user P after the floor movement. This is because, when user P's first posture is standing, the air pressure difference Δp cannot increase unless user P ascends using elevator E. That is, the increase in air pressure difference Δp after the floor movement indicates that user P's first posture after the floor movement is not standing. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and corrects user P's first posture after the floor movement to a posture different from user P's last posture before the floor movement (S300). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a sitting posture and estimates user P's second posture after the floor movement to a standing posture. Thus, user P's first and second postures after the floor movement match the change in air pressure difference Δp after the floor movement.

[0044] If the pressure difference Δp further increases after step S300, the posture estimation unit 12 cannot estimate the third posture of user P after the floor movement. This is because, if user P's second posture is standing, the pressure difference Δp cannot increase unless user P ascends using elevator E. That is, the increase in pressure difference Δp after the floor movement indicates that user P's second posture after the floor movement is not standing. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and recalibrates user P's first posture to match the change in pressure difference Δp after the floor movement (S310). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a lying posture, corrects user P's second posture after the floor movement to a sitting posture, and estimates user P's third posture after the floor movement to a standing posture. Thus, user P's first, second, and third postures after the floor movement match the change in pressure difference Δp after the floor movement.

[0045] (The initial posture of user P after the floor is moved is a sitting posture) Figure 6 This describes the operation flow of the posture estimation device 4, indicating that the first posture of user P after moving to a different floor is a seated position. For example... Figure 6 As shown, when the air pressure difference Δp decreases after the floor moves, the posture estimation unit 12 estimates that the second posture of the user P after the floor moves is a lying posture (S400) based on the fact that the first posture of the user P after the floor moves is a sitting posture and the change in air pressure difference Δp after the floor moves is reduced.

[0046] Then, if the pressure difference Δp further decreases, the posture estimation unit 12 cannot estimate the third posture of user P after the floor movement. This is because, if user P's second posture is a lying position, the pressure difference Δp cannot decrease except when user P descends using elevator E. That is, the further decrease in the pressure difference Δp after the floor movement indicates that user P's first posture after the floor movement is not a sitting position. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and corrects user P's first posture after the floor movement to a posture different from user P's last posture before the floor movement (S410). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a standing posture, corrects user P's second posture after the floor movement to a sitting posture, and estimates user P's third posture after the floor movement to a lying posture. Thus, user P's first, second, and third postures after the floor movement match the changes in the pressure difference Δp after the floor movement.

[0047] like Figure 6 As shown, when the air pressure difference Δp increases after the floor moves, the posture estimation unit 12 estimates that the user P's second posture after the floor moves is a standing posture based on the fact that the first posture of the user P after the floor moves is a sitting posture and the change in air pressure difference Δp after the floor moves is an increase (S500).

[0048] Then, if the pressure difference Δp further increases, the posture estimation unit 12 cannot estimate the third posture of user P after the floor movement. This is because, if user P's second posture is standing, the pressure difference Δp cannot increase unless user P ascends using elevator E. That is, a further increase in the pressure difference Δp after the floor movement indicates that user P's first posture after the floor movement is not sitting. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and corrects user P's first posture after the floor movement to a posture different from user P's last posture before the floor movement (S510). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a lying posture, corrects user P's second posture after the floor movement to a sitting posture, and estimates user P's third posture after the floor movement to a standing posture. Thus, user P's first, second, and third postures after the floor movement match the changes in the pressure difference Δp after the floor movement.

[0049] (The initial posture of user P after the floor is moved is a lying position) Figure 7 This describes the operation flow of the posture estimation device 4, indicating that the first posture of user P after moving to a different floor is a lying position. For example... Figure 7As shown, when the air pressure difference Δp increases after the floor movement, the posture estimation unit 12 estimates the second posture of the user P after the floor movement to be a sitting posture, based on the fact that the first posture of the user P after the floor movement is a lying posture and the change in air pressure difference Δp after the floor movement is increased (S600). Then, further when the air pressure difference Δp increases, the posture estimation unit 12 estimates the third posture of the user P after the floor movement to be a standing posture, based on the fact that the second posture of the user P after the floor movement is a sitting posture and the change in air pressure difference Δp after the floor movement is increased (S610).

[0050] In contrast, when the air pressure difference Δp decreases after the floor movement, the posture estimation unit 12 cannot estimate the second posture of user P after the floor movement. This is because, when user P's first posture is a lying position, the air pressure difference Δp cannot decrease except when user P descends using elevator E. That is, a decrease in the air pressure difference Δp after the floor movement indicates that user P's first posture after the floor movement is not a lying position. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and corrects user P's first posture after the floor movement to a posture different from user P's last posture before the floor movement (S700). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a sitting posture and estimates user P's second posture after the floor movement to a lying position. Thus, user P's first and second postures after the floor movement match the change in air pressure difference Δp after the floor movement.

[0051] If the pressure difference Δp further decreases after step S700, the posture estimation unit 12 cannot estimate the third posture of user P after the floor movement. This is because, if user P's second posture is a lying position, the pressure difference Δp cannot decrease except when user P descends using elevator E. That is, a decrease in the pressure difference Δp after the floor movement indicates that user P's second posture after the floor movement is not a lying position. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor movement to be incorrect and recalibrates user P's first posture to match the change in pressure difference Δp after the floor movement (S710). As an example, the posture estimation unit 12 corrects user P's first posture after the floor movement to a standing posture, corrects user P's second posture after the floor movement to a sitting posture, and estimates user P's third posture after the floor movement to a lying posture. Thus, user P's first, second, and third postures after the floor movement match the change in pressure difference Δp after the floor movement.

[0052] The embodiments of the present invention have been described above. These embodiments have the following characteristics.

[0053] The posture estimation device 4 (posture estimation system) includes: a user-side air pressure acquisition unit 10, which acquires the user-side air pressure value output by a wearable sensor 2 (user-side air pressure detector) worn by user P; a reference-side air pressure acquisition unit 11, which acquires the reference-side air pressure value output by a reference-side air pressure sensor 3 (reference-side air pressure detector) installed in the medical facility M (multi-story building); and a posture estimation unit 12, which estimates the posture of user P based on the air pressure difference Δp between the user-side air pressure value and the reference-side air pressure value. When the posture estimation unit 12 detects that user P has moved between floors within the medical facility M, it estimates that the initial posture of user P after the floor movement is the same as the final posture of user P before the floor movement. Based on this structure, the posture of user P can continue to be estimated even after the user P has moved between floors.

[0054] Furthermore, the posture estimation unit 12 estimates the next posture of user P after the floor movement based on the initial posture of user P after the floor movement and the change in air pressure difference Δp after the floor movement. Based on the above structure, the next posture of user P after the floor movement can be estimated.

[0055] Furthermore, when the next posture of user P after the floor movement cannot be estimated, the posture estimation unit 12 corrects the initial posture of user P after the floor movement to a posture different from the final posture of user P before the floor movement. In other words, the posture estimation unit 12 corrects the initial posture of user P after the floor movement in a way that matches the initial posture of user P after the floor movement with the change in air pressure difference Δp after the floor movement. Based on the above structure, it is possible to correct the estimation of the initial posture of user P after the floor movement.

[0056] The invention described above is not limited to the above description. The structure or details of the invention can be modified in various ways that are understandable to those skilled in the art within the scope of the invention.

[0057] In the above embodiment, a wearable sensor 2 is worn on the torso B of the user P. The posture estimation device 4 estimates the user P's posture based on the pressure difference Δp between the user-side air pressure value output by the wearable sensor 2 and the reference-side air pressure value output by the reference-side air pressure sensor 3. Here, the installation location of the wearable sensor 2 is not limited to the torso B. The wearable sensor 2 can be installed on any part of the user P, provided that the pressure difference Δp changes according to changes in the user P's posture. Therefore, for example, the wearing location of the wearable sensor 2 could be the user P's head, shoulder, or thigh.

[0058] In the examples above, the program can use various types of non-transitory computer-readable media to store and supply to the computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (such as floppy disks, magnetic tapes, and hard disk drives) and magneto-optical recording media (such as magneto-optical disks). Examples of non-transitory computer-readable media include CD-ROM (CD-Read-Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., including mask ROM). Other examples of non-transitory computer-readable media include programmable ROM (PROM), erasable programmable ROM (EPROM), flash memory ROM, and random access memory (RAM). Furthermore, programs can be supplied to a computer by various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can supply programs to a computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0059] Symbol Explanation 1-Posture estimation system, 2-Wearable sensor, 3-Reference side air pressure sensor, 4-Posture estimation device, 10-User side air pressure value acquisition unit, 11-Reference side air pressure value acquisition unit, 12-Posture estimation unit, 13-Judgment result output unit, P-User, B-Torso, M-Medical institution, Δp-Air pressure difference.

Claims

1. A pose estimation system, characterized in that, include: The user-side air pressure value acquisition unit acquires the user-side air pressure value output by the user-side air pressure detector worn by the user; The reference side air pressure value acquisition unit acquires the reference side air pressure value output by the reference side air pressure detector installed in the multi-story building; and The posture estimation unit estimates the user's posture based on the pressure difference between the user-side air pressure value and the reference-side air pressure value. When the posture estimation unit detects that the user has moved between floors in the multi-story building, it estimates that the user's initial posture after the floor movement is the same as the user's final posture before the floor movement.

2. The pose estimation system according to claim 1, characterized in that, The posture estimation unit estimates the user's next posture after the floor movement based on the user's initial posture after the floor movement and the change in air pressure difference after the floor movement.

3. The pose estimation system according to claim 2, characterized in that, If the posture estimation unit cannot estimate the user's next posture after the floor movement, it corrects the user's initial posture after the floor movement to a posture different from the user's last posture before the floor movement.

4. The pose estimation system according to claim 2, characterized in that, If the posture estimation unit cannot estimate the user's next posture after the floor movement, it corrects the user's initial posture after the floor movement so that the user's initial posture after the floor movement matches the change in air pressure difference after the floor movement.

5. A pose estimation method, characterized in that, The computer performs the following processing: Acquire the user-side air pressure value output by the user-side barometer worn by the user; Obtain the reference side pressure value output by the reference side barometer installed in a multi-story building; and The user's posture is estimated based on the pressure difference between the user-side air pressure value and the reference-side air pressure value. In the estimation, if the user is detected to have moved between floors in the multi-story building, it is estimated that the user's initial posture after the floor movement is the same as the user's final posture before the floor movement.

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