Positioning device, mobile body, and positioning method

Abstract

To provide a positioning device capable of determining whether a mobile body is moving forward or backward in mobile body positioning.SOLUTION: A positioning device 1 comprises: a receiving unit which receives image data from a camera mounted on a mobile body; a marker positioning unit which calculates the position of the mobile boy and the orientation of the camera on the basis of marker images included in the image data; a feature point positioning unit which, when the marker image is not included in the image data, calculates the position of the mobile body and the orientation of the camera on the basis of the past positions of the mobile body and feature points in the image data; a calculation unit which calculates a movement vector of the mobile body on the basis of the positions of the mobile body; and a determination unit which determines whether the mobile body is moving forward or backward on the basis of the orientation of the camera and the movement vector.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present disclosure relates to a positioning device, a moving body, and a positioning method.

Background Art

[0002] Indoors such as in a logistics warehouse, there is a moving body that transports goods while performing positioning. Patent Document 1 discloses a luggage location management device that measures the position of a vehicle using positioning technologies such as GPS (Global Positioning System), wireless LAN (Local Area Network) positioning, and infrared positioning.

[0003] Non-Patent Document 1 discloses a positioning method called Visual-SLAM (Visual Simultaneous Localization and Mapping). In Visual-SLAM, a moving body equipped with a camera moves while photographing its surroundings, and calculates the movement amount of the moving body based on the movement amounts of feature points in a plurality of photographed images. Thus, in Visual-SLAM, it is possible to estimate the current position of the moving body or generate a map based on the trajectory of the moving body. Note that calculating the position, direction, etc. of the moving body based on a plurality of photographed images is referred to as visual odometry. As a function of this visual odometry, the movement amount of the moving body may be calculated based on the movement amounts of feature points in a plurality of photographed images.

[0004] Also, as a positioning method, a positioning method using a marker is known. For example, the positioning device stores map information including image data of markers installed (attached) to objects such as pillars and walls of a building and the installation positions of the markers. The marker information and the installation position are associated with each other.

[0005] The positioning device calculates the relative position of the moving object with respect to the marker based on the marker image captured by the camera. The positioning device refers to the map information to obtain the installation position of the marker captured by the camera, and calculates the position of the moving object on the map of the map information based on the obtained installation position and the calculated relative position of the moving object with respect to the marker.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Non-Patent Documents

[0007]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] In the conventional positioning method, the position (movement trajectory) of the moving object on the map of the map information can be obtained, but it is not known whether the moving object is moving forward or backward.

[0009] The non-limiting embodiments of the present disclosure contribute to providing a positioning device, a moving object, and a positioning method for determining the forward and backward movement of the moving object in the positioning of the moving object.

Means for Solving the Problems

[0010] A positioning device according to an embodiment of the present disclosure includes a receiving unit that receives image data from a camera mounted on a moving body, a marker positioning unit that calculates the position of the moving body and the posture of the camera based on a marker image included in the image data, and when the marker image is not included in the image data, a feature point positioning unit that calculates the position of the moving body and the posture of the camera based on the past position of the moving body and feature points of the image data, a calculation unit that calculates a movement vector of the moving body based on the position of the moving body, and a determination unit that determines forward and backward movement of the moving body based on the posture of the camera and the movement vector.

[0011] A moving body according to an embodiment of the present disclosure includes a camera, a receiving unit that receives image data from the camera, a marker positioning unit that calculates the position of the moving body and the posture of the camera based on a marker image included in the image data, and when the marker image is not included in the image data, a feature point positioning unit that calculates the position of the moving body and the posture of the camera based on the past position of the moving body and feature points of the image data, a calculation unit that calculates a movement vector of the moving body based on the position of the moving body, and a determination unit that determines forward and backward movement of the moving body based on the posture of the camera and the movement vector, and a positioning device.

[0012] A positioning method according to an embodiment of the present disclosure includes a positioning device receiving image data from a camera mounted on a moving body, calculating the position of the moving body and the posture of the camera based on a marker image included in the image data, and when the marker image is not included in the image data, calculating the position of the moving body and the posture of the camera based on the past position of the moving body and feature points of the image data, calculating a movement vector of the moving body based on the position of the moving body, and determining forward and backward movement of the moving body based on the posture of the camera and the movement vector.

[0013] Note that these general or specific aspects may be implemented in a system, apparatus, method, integrated circuit, computer program, or recording medium, or may be implemented in any combination of a system, apparatus, method, integrated circuit, computer program, and recording medium.

Advantages of the Invention

[0014] According to an embodiment of the present disclosure, in the positioning of a moving body, forward and backward movements can be determined.

[0015] Further advantages and effects in an embodiment of the present disclosure will be clarified from the specification and drawings. Such advantages and / or effects are provided by some embodiments and the features described in the specification and drawings respectively, but not all of them are necessarily provided to obtain one or more identical features.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, a more detailed description than necessary may be omitted. For example, a detailed description of well-known matters or a redundant description of substantially the same configuration may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate understanding by those skilled in the art.

[0018] Note that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and it is not intended to limit the subject matter described in the claims thereby.

[0019] FIG. 1 is a diagram showing a moving body 2 equipped with a positioning device 1 according to an embodiment of the present disclosure. The moving body 2 may be a vehicle such as a forklift or a truck, for example. The moving body 2 is equipped with a positioning device 1 and a camera 3.

[0020] The positioning device 1 receives image data of an image captured by the camera 3. Based on the image data received from the camera 3, the positioning device 1 measures the position of the moving body 2 by positioning based on image recognition of a marker (image of the marker) attached to an object and positioning based on the amount of movement of feature points in the image such as visual odometry. That is, the positioning device 1 measures the position of the moving body 2 using two positioning methods (see, for example, Patent Document 2). Note that the position of the positioning device 1 may be regarded as the position of the moving body 2. That is, the positioning device 1 may measure the position of the positioning device 1 and use it as the position of the moving body 2.

[0021] Hereinafter, positioning based on image recognition of a marker may be referred to as marker positioning, and positioning based on the amount of movement of feature points in the image may be referred to as feature point positioning. Positioning based on marker positioning and feature point positioning may be referred to as a hybrid positioning method.

[0022] The camera 3 is, for example, a stereo camera. The camera 3 may be any camera that outputs image data that allows the positioning device 1 to calculate the distance to the object, and may also be a compound eye camera. The camera 3 is mounted on the moving body 2 such that the shooting direction (front or optical axis) of the camera 3 faces the front (forward direction) of the moving body 2.

[0023] FIG. 2 is a view of the area A2a where the moving body 2 moves, seen from above. The square and round figures shown in the area A2a indicate objects such as packages stored in a building such as a logistics warehouse, columns of the building, and walls of the building. Markers A2b to A2e are attached to the objects as shown in FIG. 2. In FIG. 2, for ease of understanding, the markers A2b to A2e are drawn on the upper surface of the object, but the markers A2b to A2e may be attached to the side surface of the object so that the camera 3 can easily photograph them. Also, the positions of the objects and the markers A2b to A2e shown in FIG. 2 are merely examples and are not limited to the example of FIG. 2.

[0024] The positioning device 1 stores map information (map data) of the area A2a. The map information includes marker information such as the image data of the markers A2b to A2e and position information indicating the attachment positions of the markers A2b to A2e. The marker information and the attachment position are associated with each other.

[0025] For example, two-dimensional coordinates are set in the map information. For example, xy coordinates with the lower left of the area A2a shown in FIG. 3 as the origin are set in the map information (see the arrow A2f in FIG. 2).

[0026] Note that the area A2a where the moving body 2 moves may be indoors or outdoors. Attachment may also be referred to as installation.

[0027] · Marker positioning FIG. 3 is a diagram for explaining marker positioning. FIG. 3 shows an image A3a taken by the camera 3. The image A3a includes a marker A3b.

[0028] The positioning device 1 receives the image A3a captured by the camera 3. Based on the appearance of the marker A3b in the received image A3a, such as the angle (tilt), shape, and size of the image of the marker A3b, the positioning device 1 calculates the relative position of the moving body 2 with respect to the marker A3b. For example, the positioning device 1 calculates the relative position such as the distance and direction of the moving body 2 with respect to the marker A3b. Based on the calculated relative position and the position information of the marker A3b included in the map information, the positioning device 1 calculates the position (absolute position) of the moving body 2 on the map of the map information and the posture of the camera 3 on the map of the map information. The posture of the camera 3 is, for example, the yaw angle of the camera 3 with respect to the x-axis.

[0029] · Feature point positioning and hybrid positioning There may be no marker A3b at the location where the moving body 2 moves within the region A2a or in the traveling direction of the moving body 2 (the imaging direction of the camera 3). In this case, the positioning device 1 measures the position of the moving body 2 by feature point positioning.

[0030] Figure 4 is a diagram for explaining feature point positioning. The image A4a captured by the camera 3 is shown in Figure 4. The black squares shown in the image A4a indicate the feature points calculated by the positioning device 1. Note that the image A4a does not include a marker.

[0031] The positioning device 1 receives the image A4a captured by the camera 3. When the received image A4a does not include a marker image, the positioning device 1 calculates feature points every 1 frame (it may also be n frames. n is a positive integer), and calculates the relative movement amount of the moving body 2, such as the moving distance and moving direction (rotation angle), from the difference (shift) in the positions of the feature points for each 1 frame.

[0032] For example, the positioning device 1 calculates, as feature points, the locations where the shape changes, such as the corners of the object, and the edges where the color changes, from the image A4a. The positioning device 1 calculates feature points every 1 frame. The positioning device 1 calculates the relative movement amount of the moving body 2 from the difference in the positions of the feature points for each 1 frame.

[0033] Note that the calculation of feature points is not limited to the above example. Existing technologies may be used for the calculation of feature points. Feature points may also be referred to as feature quantities.

[0034] When the positioning device 1 calculates the relative movement amount, it calculates the position and orientation of the moving body 2 within the region A2a based on the calculated relative movement amount and the positioning result of the marker positioning. For example, the positioning device 1 adds the relative movement amount to the positioning result of the marker positioning to calculate the position (absolute position) of the moving body 2 on the map of the map information and the yaw angle of the camera 3 on the map of the map information.

[0035] When the marker is included again in the image received from the camera 3, the positioning device 1 performs marker positioning. When the marker is no longer included in the image received from the camera 3, the positioning device 1 executes feature point positioning based on the position of the moving body 2 measured by marker positioning.

[0036] In this way, when the marker is photographed by the camera 3, the positioning device 1 executes marker positioning, and when the marker is not photographed by the camera 3, the positioning device 1 executes feature point positioning. As a result, even if the positioning result of the feature point positioning includes an error, the error is corrected by the positioning result of the marker positioning in the hybrid positioning method.

[0037] In addition, the hybrid positioning method has advantages such as not requiring prior acquisition of point cloud data of the positioning location (for example, the region A2a shown in FIG. 2) compared to, for example, the positioning method of Visual-SLAM, and having light processing.

[0038] · Determination principle of forward movement, backward movement, and stop of the moving body In hybrid measurement, the absolute position of the moving body 2 and the yaw angle of the camera 3 are obtained as positioning results. For example, in hybrid positioning, the x and y coordinates of the moving body 2 on the map of the map information and the yaw angle of the shooting direction of the camera 3 with respect to the x-axis on the map of the map information are obtained as positioning results.

[0039] The positioning device 1 determines whether the moving body 2 is moving forward, moving backward, or stopped based on the absolute position of the moving body 2 obtained from hybrid positioning and the yaw angle of the camera 3.

[0040] FIG. 5 is a diagram for explaining the principle of forward movement determination of the moving body 2. As described above, the absolute position of the moving body 2 is obtained as the positioning result of hybrid positioning. The positioning device 1 calculates the movement vector of the moving body 2 from two absolute positions of the moving body 2 obtained from hybrid positioning.

[0041] For example, the positioning device 1 calculates the movement vector shown by the arrow A5c in FIG. 5 from the difference between the absolute position of the moving body 2 obtained most recently (the absolute position at time t shown by the black circle A5a in FIG. 5) and the absolute position one epoch before (the absolute position at time t - 1 shown by the black circle A5b in FIG. 5).

[0042] The positioning device 1 calculates the azimuth angle θ of the calculated movement vector. For example, the positioning device 1 takes the arctangent of the calculated movement vector and calculates the azimuth angle θ of the calculated movement vector with respect to the x-axis.

[0043] As described above, the yaw angle of the camera 3 is obtained as the positioning result of hybrid positioning. For example, as shown by the arrow A5d in FIG. 5, the positioning device 1 obtains the yaw angle of the camera 3 (for example, the azimuth angle of the camera 3 with respect to the x-axis) as the positioning result of hybrid positioning.

[0044] If the moving body 2 is moving forward, the direction of the movement vector of the moving body 2 faces the direction of the yaw angle of the camera 3 as shown in FIG. 5. That is, if the movement vector representing the movement of the moving body 2 faces the direction of the yaw angle of the camera 3 obtained from hybrid positioning, the positioning device 1 can determine that the moving body 2 is moving forward.

[0045] FIG. 6 is a diagram for explaining the principle of reverse movement determination of the moving body 2. As described above, the absolute position of the moving body 2 is obtained as the positioning result of hybrid positioning. The positioning device 1 calculates the movement vector of the moving body 2 from two absolute positions of the moving body 2 obtained from hybrid positioning, in the same manner as the description of FIG. 5.

[0046] For example, the positioning device 1 calculates the movement vector shown by the arrow A6c in FIG. 6 from the difference between the absolute position of the moving body 2 obtained most recently (the absolute position at time t shown by the black circle A6a in FIG. 6) and the absolute position one epoch before (the absolute position at time t - 1 shown by the black circle A6b in FIG. 6).

[0047] The positioning device 1 calculates the azimuth angle θ of the calculated movement vector, in the same manner as the description of FIG. 5. For example, the positioning device 1 takes the arctangent of the calculated movement vector and calculates the azimuth angle θ of the calculated movement vector with respect to the x-axis.

[0048] As described above, the yaw angle of the camera 3 is obtained as the positioning result of hybrid positioning. For example, as shown by the arrow A6d in FIG. 6, the positioning device 1 obtains the yaw angle (for example, the azimuth angle with respect to the x-axis) of the camera 3 as the positioning result of hybrid positioning.

[0049] If the moving body 2 is moving backward, the direction of the movement vector of the moving body 2 faces the direction opposite to the direction of the yaw angle of the camera 3, as shown in FIG. 6. That is, if the movement vector representing the movement of the moving body 2 faces the direction opposite to the direction of the yaw angle of the camera 3 obtained from hybrid positioning, the positioning device 1 can determine that the moving body 2 is moving forward.

[0050] FIG. 7 is a diagram for explaining the principle of stop determination of the moving body 2. As described above, the absolute position of the moving body 2 is obtained as the positioning result of hybrid positioning. The positioning device 1 calculates the movement vector of the moving body 2 from two absolute positions of the moving body 2 obtained from hybrid positioning, in the same manner as the description of FIG. 5.

[0051] For example, the positioning device 1 calculates a movement vector from the difference between the absolute position of the moving object 2 obtained most recently (the absolute position at time t shown by the black circle A7a in FIG. 7) and the absolute position one epoch before (the absolute position at time t-1 shown by the black circle A7b in FIG. 7).

[0052] If the moving object 2 is stationary, the magnitude of the movement vector of the moving object 2 becomes 0 (or approximately 0) as shown in FIG. 7. That is, if the magnitude of the movement vector representing the movement of the moving object 2 is 0 (or approximately 0), the positioning device 1 can determine that the moving object 2 is stationary.

[0053] ·Operation of the positioning device FIG. 8 is a flowchart showing an operation example of the positioning device 1. The positioning device 1 repeatedly executes the processing of the flowchart shown in FIG. 8, for example, at a fixed cycle. Although not shown in the flowchart of FIG. 8, the positioning device 1 repeatedly executes hybrid positioning, for example, at a fixed cycle, and calculates the absolute position (coordinates) of the moving object 2 and the yaw angle of the camera 3.

[0054] The positioning device 1 calculates (acquires) the movement vector of the moving object 2 by taking the difference between the coordinates of the moving object 2 at time t and the coordinates of the moving object 2 at time t-1 one epoch before (S1). Note that the coordinates of the moving object 2 are, for example, the coordinates on the map in the map information of the area A2a shown in FIG. 2.

[0055] The positioning device 1 calculates the average of the movement vectors in N samples of the movement vector calculated in S1 (S2). Note that the value of N (N is a positive integer) may be determined, for example, in consideration of the response speed and error suppression. For example, when the value of N is increased, the response speed becomes slow, but the error suppression becomes large. When the value of N is decreased, the response speed becomes fast, but the error suppression becomes small.

[0056] The positioning device 1 compares the magnitude of the movement vector in the N-sample average calculated in S2 with a stationary determination threshold value (S3).

[0057] The positioning device 1 determines whether or not the magnitude of the movement vector in the N-sample average is less than or equal to the stationary determination threshold (S4).

[0058] When the magnitude of the movement vector in the N-sample average is less than or equal to the stationary determination threshold (YES in S4), the positioning device 1 determines that the moving body 2 is stationary (S5).

[0059] On the other hand, when the magnitude of the movement vector in the N-sample average is not less than or equal to the stationary determination threshold (NO in S4), the positioning device 1 calculates the azimuth angle of the movement vector (S6). For example, the positioning device 1 calculates the azimuth angle of the movement vector by taking the arctangent of the inverse of the movement vector calculated in S1.

[0060] The positioning device 1 calculates the difference (absolute value) between the azimuth angle of the movement vector calculated in S6 and the yaw angle of the camera 3 calculated by hybrid positioning (S7).

[0061] The positioning device 1 determines whether or not the difference between the azimuth angle of the movement vector calculated in S7 and the yaw angle of the camera 3 is less than or equal to the forward movement determination threshold (S8).

[0062] When the difference between the azimuth angle of the movement vector and the yaw angle of the camera 3 is less than or equal to the forward movement determination threshold (YES in S8), the positioning device 1 determines that the moving body 2 is moving forward (S9).

[0063] On the other hand, when the difference between the azimuth angle of the movement vector and the yaw angle of the camera 3 is not less than or equal to the forward movement determination threshold (NO in S8), the positioning device 1 determines that the moving body 2 is moving backward (S10).

[0064] After performing the stationary determination in S5, the forward movement determination in S9, or the backward movement determination in S10, the positioning device 1 outputs, as the final determination result, the result of taking a majority vote of the determination results for three epochs (S11).

[0065] · Majority vote of determination results In hybrid positioning, when switching from feature point positioning to marker positioning, the absolute position of the moving body 2 is corrected by marker positioning, and there may be a case where the actual moving direction (forward or backward) of the moving body 2 does not match the determination result of the positioning device 1. For example, even though the moving body 2 is moving forward, due to the correction of the absolute position by marker positioning, the determination result may be backward. Therefore, the positioning device 1 takes a majority vote of the determination results and outputs the result of the majority vote as the final determination result.

[0066] Figure 9 is a diagram for explaining the majority vote of the determination results. In the explanation of Figure 9, it is assumed that the moving body 2 is moving forward. V1 to V3 shown in Figure 9 indicate feature point positioning, and M1 indicates marker positioning.

[0067] As shown in Figure 9, two epochs before time t-2, feature point positioning V2 is executed, and the determination result is "forward". One epoch before time t-1, feature point positioning V3 is executed, and the determination result is "forward". At the epoch of time t, marker positioning M1 is executed, and the determination result is "backward".

[0068] In marker positioning, the cumulative error of the absolute position by feature point positioning obtained before the marker positioning is corrected. Therefore, the determination result obtained by marker positioning M1 may be determined to be backward as shown at time t in Figure 9, even though the moving body 2 is actually moving forward.

[0069] Therefore, the positioning device 1 outputs the majority vote of the determination results for three epochs, namely the determination result at time t, the determination result one epoch before, and the determination result two epochs before, as the final determination result. For example, in the case of the example in Figure 9, there are two forward determinations and one backward determination, so the positioning device 1 outputs forward as the final determination result.

[0070] Note that when switching from feature point positioning to marker positioning and the marker positioning is continuous, the positioning result of the first marker positioning may not match the actual moving direction (forward or backward) of the moving body 2 due to the correction of the absolute position. However, the positioning results of the marker positioning after the second time match the actual moving direction of the moving body 2. Also, when switching from marker positioning to feature point positioning, or when the feature point positioning is continuous, since the absolute position of the moving body 2 is not corrected in the feature point positioning, the determination result of the feature point positioning often matches the moving direction of the moving body 2.

[0071] Therefore, when the moving body 2 is moving in one direction, either forward or backward, the possibility that two incorrect determination results are included in the determination results for three consecutive epochs is low. Therefore, it is sufficient to take the majority vote for three epochs. Also, the positioning device 1 can shorten the processing time by taking the majority vote for three epochs.

[0072] ·Block diagram FIG. 10 is a diagram showing the block configuration of the positioning device 1. As shown in FIG. 11, the positioning device 1 includes a control unit 11, a storage unit 12, and a communication unit 13.

[0073] The control unit 11 controls the entire positioning device 1. The control unit 11 may be configured by a processor such as a CPU (central processing unit), for example.

[0074] The control unit 11 includes a marker positioning unit 11a, a feature point positioning unit 11b, a calculation unit 11c, and a determination unit 11d. The control unit 11 may realize the functions of the foregoing units according to a program (application) stored in the storage unit 12.

[0075] The marker positioning unit 11a calculates the position of the moving body 2 and the posture of the camera 3 based on the marker image included in the image data of the camera 3.

[0076] When the marker image is not included in the image data of the camera 3, the feature point positioning unit 11b calculates the position of the moving body 2 and the attitude of the camera 3 based on the past position of the moving body 2 and the feature points of the image data.

[0077] The calculation unit 11c calculates the movement vector of the moving body 2 based on the position of the moving body 2.

[0078] The determination unit 11d determines the forward and backward movement of the moving body 2 based on the attitude of the camera 3 and the movement vector. The determination unit 11d determines the stop of the moving body 2 based on the magnitude of the movement vector.

[0079] For example, the determination unit 11d compares the yaw angle indicating the attitude of the camera 3 with the azimuth angle of the movement vector to determine the forward and backward movement of the moving body 2.

[0080] For example, when the absolute value of the difference between the yaw angle of the camera 3 and the azimuth angle of the movement vector is less than or equal to the threshold value, the determination unit 11d determines that the moving body 2 is moving forward. For example, when the absolute value of the difference between the yaw angle of the camera 3 and the azimuth angle of the movement vector is greater than the threshold value, the determination unit 11d determines that the moving body 2 is moving backward. For example, when the magnitude of the movement vector is less than or equal to the threshold value, the determination unit 11d determines that the moving body 2 is stopped. For example, the determination unit 11d makes a final determination on the forward and backward movement of the moving body 2 based on the majority vote of the three determination results of the forward and backward movement of the moving body 2.

[0081] The storage unit 12 stores a program for causing the control unit 11 to execute various processes. This program may include, for example, an operating system (OS) program and application programs. Further, the storage unit 12 stores various data necessary for the processes by the control unit 11. For example, the storage unit 12 stores map information of the area A2a. The storage unit 12 stores movement range information. The storage unit 12 stores non-entry area information. The storage unit 12 may be, for example, a solid state drive (SSD), a random access memory (RAM), a flash memory, a read only memory (ROM), and / or a hard disk drive (HDD). The determination result of the determination unit 11d may be associated with the position information of the moving body 2 and stored in the storage unit 12.

[0082] The communication unit 13 communicates with the camera 3, for example, via a wireless or wired LAN.

[0083] · Summary of the Embodiment As described above, the positioning device 1 receives image data from the camera 3 mounted on the moving body 2. The positioning device 1 calculates the position of the moving body 2 and the orientation of the camera 3 based on the marker image included in the image data. When the image data does not include a marker image, the positioning device 1 calculates the position of the moving body 2 and the orientation of the camera 3 based on the past position of the moving body 2 and the feature points of the image data. The positioning device 1 calculates the movement vector of the moving body 2 based on the position of the moving body 2. The positioning device 1 determines the forward and backward movement of the moving body 2 based on the orientation of the camera 3 and the azimuth angle of the movement vector. Thereby, the positioning device 1 can determine the forward and backward movement of the moving body 2 in the positioning of the moving body 2.

[0084] For example, when the moving body 2 is moving forward, the azimuth angle of the movement vector of the moving body 2 faces the direction of the yaw angle of the camera 3. When the moving body 2 is moving backward, the azimuth angle of the movement vector of the moving body 2 faces the direction opposite to the direction of the yaw angle of the camera 3. Therefore, the positioning device 1 can determine the forward and backward movement of the moving body 2 based on the posture of the camera 3 and the azimuth angle of the movement vector.

[0085] Also, when performing the trajectory analysis of the moving body 2, information such as the forward and backward movement of the moving body 2 is important information. Since the positioning device 1 can determine the forward and backward movement of the moving body 2, the trajectory analyst can, for example, play back the images of the camera 3 as a video and does not need to visually determine the forward and backward movement, reducing the workload of the trajectory analysis of the moving body 2.

[0086] As described above, the embodiments have been described with reference to the drawings, but the present disclosure is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims. Such modification examples or correction examples are also understood to belong to the technical scope of the present disclosure. Also, within the scope not departing from the gist of the present disclosure, the components in the embodiments may be arbitrarily combined.

[0087] In the above-described embodiments, the notation "··· part" used for each component may be replaced with other notations such as "··· circuitry", "··· assembly", "··· device", "··· unit", or "··· module". Calculation may be read as computation.

[0088] This disclosure can be implemented in software, hardware, or software in cooperation with hardware. Each functional block used in the description of the above embodiments can be implemented, partially or entirely, as an LSI which is an integrated circuit, and each process described in the above embodiments can be controlled, partially or entirely, by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip so as to include a part or all of the functional blocks. The LSI may be provided with data input and output. Depending on the degree of integration, the LSI may also be referred to as an IC, a system LSI, a super LSI, or an ultra LSI.

[0089] The method of integration is not limited to LSI, and it may be realized by an application specific circuit, a general-purpose processor, or a dedicated processor. Further, after manufacturing the LSI, an FPGA (Field Programmable Gate Array) which can be programmed, or a reconfigurable processor capable of reconfiguring the connection and setting of circuit cells inside the LSI may be used. This disclosure may be realized as digital processing or analog processing.

[0090] Furthermore, if a technology for integrating circuits that replaces LSI appears due to the progress of semiconductor technology or other derived technologies, naturally, the technology may be used to integrate the functional blocks. The application of biotechnology and the like are possible.

Industrial Applicability

[0091] This disclosure is useful, for example, for the flow line analysis of a moving body.

Explanation of Signs

[0092] 1 Positioning device 2 Moving body 3 Camera A2b, A3b Marker 11 Control unit 11a Marker positioning unit 11b Feature point positioning unit 11c Calculation unit 11d determination unit 12 memory unit 13 communication unit

Claims

1. A receiving unit that receives image data from a camera mounted on a moving body, a marker positioning unit that calculates the position of the moving body and the orientation of the camera based on a marker image included in the image data, a feature point positioning unit that calculates the position of the moving body and the orientation of the camera based on the past position of the moving body and the feature points of the image data when the marker image is not included in the image data, a calculation unit that calculates a movement vector of the moving body based on the position of the moving body, a determination unit that determines forward and backward movement of the moving body based on the orientation of the camera and the movement vector, A positioning device having the above.

2. The determination unit compares a yaw angle indicating the orientation of the camera with an azimuth angle of the movement vector, and determines forward and backward movement of the moving body. The positioning device according to Claim 1.

3. The determination unit determines that the moving body is moving forward when an absolute value of a difference between the yaw angle of the camera and the azimuth angle of the movement vector is equal to or less than a threshold value. The positioning device according to Claim 2.

4. The determination unit determines that the moving body is moving backward when an absolute value of a difference between the yaw angle of the camera and the azimuth angle of the movement vector is greater than the threshold value. The positioning device according to Claim 2.

5. The determination unit determines that the moving body has stopped when a magnitude of the movement vector is equal to or less than a threshold value. The positioning device according to Claim 1.

6. The determination unit makes a final determination of forward and backward movement of the moving body based on a majority vote of three determination results of the forward and backward movement of the moving body. The positioning device according to Claim 1.

7. A moving body, a camera, a receiving unit that receives image data from the camera, a marker positioning unit that calculates the position of the moving body and the orientation of the camera based on a marker image included in the image data, a feature point positioning unit that calculates the position of the moving body and the orientation of the camera based on the past position of the moving body and the feature points of the image data when the marker image is not included in the image data, a calculation unit that calculates a movement vector of the moving body based on the position of the moving body, and a determination unit that determines forward and backward movement of the moving body based on the orientation of the camera and the movement vector, and A moving body having the above.

8. The positioning device receives image data from a camera mounted on a moving body. Based on the marker image included in the image data, calculate the position of the moving object and the pose of the camera, When the marker image is not included in the image data, calculate the position of the moving object and the pose of the camera based on the past position of the moving object and the feature points of the image data, Calculate the movement vector of the moving object based on the position of the moving object, Based on the pose of the camera and the movement vector, determine the forward and backward movement of the moving object, Positioning method.

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