Information processing device, information processing method, and information processing program

Abstract

To detect positions of bodies to be detected in a plurality of indoor spaces while suppressing an increase in kinds of blinking light.SOLUTION: An information processing device according to this application includes a first acquisition part, a second acquisition part, and an estimation part. The first acquisition part acquires information showing arrangement of a plurality of light sources that blink in blink frequencies different from one another and indoor space group position information including information on the blink frequencies of the plurality of light sources in each indoor space different from one another. The second acquisition part acquires moving image information showing a moving image obtained by imaging an irradiation area being an area irradiated by light of two or more light sources among a plurality of light sources by a rolling shutter type imaging part carried by a body to be detected or arranged. The estimation part estimates the position of bodies to be detected on the basis of the indoor space group position information acquired by the first acquisition part and a rolling shutter effect generating in the moving image shown by the moving image information acquired by the second acquisition part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, and an information processing program. [Background technology]

[0002] Conventionally, there are known techniques for detecting the position of a detection object moving indoors. For example, Patent Document 1 discloses a technique for detecting the position of a detection object by providing an optical signal transmitting device that transmits blinking light that varies depending on the irradiation direction and receiving the optical signal with an optical receiving sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-250554 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in order to accurately detect the detection position of the object to be detected in the technology described in Patent Document 1, there is a problem in that many flashing lights that differ from one another depending on the irradiation direction must be transmitted.

[0005] The present application has been made in consideration of the above, and aims to provide an information processing device, an information processing method, and an information processing program that can detect the position of a detectable object in multiple indoor spaces while suppressing an increase in the number of types of flashing light. [Means for solving the problem]

[0006] The information processing device according to the present application includes a first acquisition unit, a second acquisition unit, and an estimation unit. The first acquisition unit acquires indoor space group position information including information indicating the arrangement of multiple light sources that flash at different flashing frequencies and information regarding the flashing frequencies of the multiple light sources for each of the different indoor spaces. The second acquisition unit acquires video information indicating a video obtained by capturing an illumination area, which is an area illuminated by light from two or more of the multiple light sources, using a rolling shutter imaging unit carried or placed on the object to be detected. The estimation unit estimates the position of the object to be detected based on the indoor space group position information acquired by the first acquisition unit and the rolling shutter effect occurring in the video indicated by the video information acquired by the second acquisition unit. [Effects of the Invention]

[0007] According to one aspect of the embodiment, it is possible to detect the position of a detection object in a plurality of indoor spaces while suppressing an increase in the number of types of blinking light. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of information processing according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a position estimation system according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of the information processing device according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of information processing by the processing unit of the information processing device according to the embodiment. [Figure 5] FIG. 5 is a hardware configuration diagram showing an example of a computer that realizes the functions of the information processing device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, modes for implementing an information processing device, an information processing method, and an information processing program according to the present application (hereinafter referred to as "embodiments") will be described in detail with reference to the drawings. Note that the information processing device, the information processing method, and the information processing program according to the present application are not limited to these embodiments. Furthermore, the respective embodiments can be appropriately combined within the scope of not causing any contradiction in the processing content. Furthermore, the same components in the following embodiments will be assigned the same reference numerals, and redundant explanations will be omitted.

[0010] [1. An example of information processing] First, an example of information processing according to the embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of information processing according to the embodiment.

[0011] As shown in FIG. 1, the position estimation system 100 includes an information processing device 1 and a plurality of light sources 21 to 22 that blink at different blinking frequencies. n n is an integer of 2 or more. In the example shown in FIG. 1, n=5, but is not limited to this example. In the following, the plurality of light sources 21 to 2 n When referring to each of the light sources 2 without distinguishing them individually, they may be referred to as light sources 2. The information processing device 1 is, for example, a wireless terminal carried by a user U, who is an example of a detection object, such as a smartphone. Each light source 2 is, for example, an LED (Light Emitting Diode).

[0012] Multiple light sources 21~2 n The set of each indoor space 31-3 m m is an integer of 2 or more. m are different indoor spaces, and are arranged in a structure, for example. m Examples of the structure having the above structure include, but are not limited to, buildings, commercial facilities, and amusement facilities. m When referring to each of these without distinguishing them individually, they may be referred to as indoor space 3, and indoor spaces 31 to 3 m The space group may be referred to as an indoor space group. nThe arrangement differs for each indoor space 3.

[0013] Multiple light sources 21~2 n 1, is placed on the ceiling forming the indoor space 3, but may also be placed on the floor forming the indoor space 3. The information processing device 1 includes an imaging unit 13 that captures images using a rolling shutter method and outputs video information indicating the video obtained by the imaging, and estimates the position of the user U based on the video information output from the imaging unit 13 and the indoor space group position information.

[0014] The information processing device 1 acquires indoor space group position information from an internal storage unit (step S1). If the indoor space group position information is not stored in the internal storage unit, the information processing device 1 acquires the indoor space group position information from an external information processing device or the like. For example, the information processing device 1 acquires the indoor space group position information from the indoor spaces 31 to 3 m Indoor space group position information can be obtained wirelessly from devices installed in facilities, buildings, etc. where the sensors are located.

[0015] The indoor space group position information is a plurality of light sources 21 to 2 n and a plurality of light sources 21-2 n The blinking information includes information indicating the blinking frequency of the light source 2 or information indicating the blinking cycle.

[0016] Multiple light sources 21~2 n When the light source 21 is installed on the ceiling and the information processing device 1 is a smartphone, the imaging unit 13 is a front camera. n When the image capturing unit 13 is placed on the floor and the information processing device 1 is a smartphone, the image capturing unit 13 is a rear camera. The frame rate of the image capturing unit 13 is 60 fps (frames per second), but is not limited to this example. The image capturing unit 13 has a CMOS (Complementary Metal Oxide Semiconductor) image sensor and sequentially acquires pixel values ​​for each line or each pixel.

[0017] When a user U is present in the indoor space 3, a plurality of light sources 21 to 2 n The imaging unit 13 captures an image of an illumination area, which is an area illuminated by light from two or more light sources 2, and the imaging unit 13 outputs moving image information indicating a moving image obtained by capturing the image of the illumination area.

[0018] Next, the information processing device 1 acquires video information output from the imaging unit 13 (step S2). In the video of the illuminated area represented in the video information, for example, a phenomenon in which brighter or darker areas move appears due to the rolling shutter effect of the imaging unit 13. In the video of the illuminated area, which is an area illuminated by light from two or more light sources 2, a phenomenon in which relatively dark or relatively bright areas move individually at each of two different frequencies appears. The rolling shutter effect appears more strongly in pixels closer to the light source 2 in the video.

[0019] Next, the information processing device 1 estimates the position of the user U, who is the object to be detected, based on the indoor space group position information acquired in step S1 and the rolling shutter effect that occurs in the video shown in the video information acquired in step S2 (step S3).

[0020] First, a method for estimating the position of the user U in the indoor space 3 will be described. The indoor space 3 is provided with a plurality of light sources 21 to 22 on the ceiling or floor. n The information processing device 1 estimates the positional relationship between the two or more light sources 2 and the user U by comparing the rolling shutter effect caused by the two or more light sources 2 that appears in a video obtained by capturing an image of an illumination area, which is an area illuminated by light from the two or more light sources 2, using the imaging unit 13.

[0021] The information processing device 1 calculates the frequency distribution and amplitude of each frequency caused by the rolling shutter effect of each pixel value of a moving image in an imaging area, and estimates the positional relationship between the imaging area and two or more light sources 2 based on the calculated frequency distribution and amplitude of each frequency.

[0022] The positional relationship between the imaging area and the two or more light sources 2 is the horizontal positional relationship between the two or more light sources 2 and the user U, and includes the distance of the imaging area from the two or more light sources 2 and the orientation of the imaging unit 13 relative to each of the two or more light sources 2. The orientation of the imaging unit 13 is the orientation of the information processing device 1. The information processing device 1 estimates the positional relationship between the imaging area and the two or more light sources 2 as the positional relationship between the two or more light sources 2 and the user U.

[0023] For example, in a moving image obtained by imaging unit 13 of an illumination area, which is an area illuminated with 61 Hz light from light source 2 and 63 Hz light from light source 2, a phenomenon in which relatively dark areas or relatively bright areas move occurs at cycles of 1 Hz and 3 Hz, because the frame rate of imaging unit 13 is 60 fps. The 1 Hz frequency is the frequency of the rolling shutter effect caused by imaging unit 13 capturing 61 Hz light from light source 2. The 3 Hz frequency is the frequency of the rolling shutter effect caused by imaging unit 13 capturing 63 Hz light from light source 2.

[0024] The information processing device 1 calculates the amplitude of a 1 Hz frequency and a 3 Hz frequency for each pixel value of a moving image. The information processing device 1 determines, for each pixel, which of the 1 Hz frequency and the 3 Hz frequency has the larger amplitude. The information processing device 1 estimates that, for each pixel, the light source 2 corresponding to the frequency with the larger amplitude is closer to the light source 2 corresponding to the frequency with the smaller amplitude than the light source 2 corresponding to the frequency with the larger amplitude.

[0025] The information processing device 1 estimates the positional relationship between two or more light sources 2 and the user U based on the distribution of pixels estimated to be close to each light source 2. For example, as shown in FIG. 1, assume that the imaging unit 13 captures an image of an area where the user U is located between two light sources 21 and 22 of the same brightness. Also assume that the rolling shutter effect caused by the light from light source 21 appears at a frequency of 1 Hz, and the rolling shutter effect caused by the light from light source 22 appears at a frequency of 3 Hz. The magnitude of the rolling shutter effect caused by the light from light source 21 is represented by the amplitude of the 1 Hz frequency, and the magnitude of the rolling shutter effect caused by the light from light source 22 is represented by the amplitude of the 3 Hz frequency.

[0026] 1, in the area of ​​the video near light source 21, the amplitude of the 1 Hz frequency is larger than the amplitude of the 3 Hz frequency, and the rolling shutter effect caused by the light from light source 21 is large. In addition, in the area of ​​the video near light source 22, the amplitude of the 3 Hz frequency is larger than the amplitude of the 1 Hz frequency, and the rolling shutter effect caused by the light from light source 22 is large.

[0027] The information processing device 1 estimates the positional relationship between the light source 21 and the light source 22 in the imaging area of ​​the imaging unit 13 based on the distribution of areas where the rolling shutter effect due to the light from the light source 21 is large and the distribution of areas where the rolling shutter effect due to the light from the light source 22 is large.

[0028] For example, in the example shown in Figure 1, the area where the rolling shutter effect due to the light from light source 21 is large is larger than the area where the rolling shutter effect due to the light from light source 22 is large, so the information processing device 1 estimates that the imaging area, which is the area imaged by the imaging unit 13, is located closer to light source 21 than to light source 22.

[0029] Furthermore, the information processing device 1 can estimate the difference between the distance from the light source 21 and the distance from the light source 22 in the imaging area, which is the area imaged by the imaging unit 13, based on the ratio between the area where the rolling shutter effect due to the light from the light source 21 is large and the area where the rolling shutter effect due to the light from the light source 22 is large. Furthermore, the information processing device 1 can also estimate the distance from the light source 22 and the distance from the light source 21 based on the maximum amplitude in the moving image (the magnitude of the rolling shutter effect).

[0030] In addition, the information processing device 1 can estimate the direction of the light source 21 relative to the orientation of the information processing device 1 based on the distribution of the magnitude of the rolling shutter effect caused by the light from the light source 21, and can estimate the direction of the light source 22 relative to the orientation of the information processing device 1 based on the distribution of the magnitude of the rolling shutter effect caused by the light from the light source 22.

[0031] The information processing device 1, for example, removes noise from the image using a smoothing filter (e.g., a Gaussian filter) to remove noise, and then calculates the amplitude gradients in the column direction (horizontal direction) and row direction (vertical direction) for each pixel based on the difference between the amplitudes of adjacent pixels (the magnitude of the rolling shutter effect).The information processing device 1 then integrates the amplitude gradients of each pixel to estimate the direction of the light source 2. Note that the method for estimating the direction of the light source 2 is not limited to this example.

[0032] In this way, the information processing device 1 can estimate the position of the user U, who is the object to be detected, based on the magnitude of the rolling shutter effect corresponding to each of the lights from two or more light sources 2 at each pixel of the video shown in the video information.

[0033] The information processing device 1 also has a sensor unit including an acceleration sensor and a gyro sensor, and can estimate the tilt of the imaging unit 13 with respect to the vertical direction based on information detected by the sensor unit. The information processing device 1 can then correct the estimated position of the user U based on the estimated tilt. For example, the information processing device 1 can calculate the horizontal distance between the information processing device 1 and the area imaged by the imaging unit 13 from the tilt of the information processing device 1 with respect to the horizontal direction, and correct the position of the user U using this distance as a correction.

[0034] In the above example, the position of the user U is estimated assuming that the brightness of each light source 2 is the same, but the brightness of each light source 2 may be different. In this case, the information processing device 1 can correct the amplitude for each pixel using a correction value that corrects the difference in brightness of the light sources 2.

[0035] The information processing device 1 periodically estimates the position of the user U and stores the estimation result in an internal storage unit as the movement history of the user U. The information processing device 1 estimates the position of the user U in which indoor space 3 based on the newly estimated position of the user U, the movement history stored in the internal storage unit, and the indoor space group position information.

[0036] Multiple light sources 21~2 n The arrangement of the light sources 21 to 22 differs for each indoor space 3. n In other words, the position estimation system 100 can estimate the position of the user U in the indoor space 3 without changing the type of light source 2 for each indoor space 3. Therefore, even if there is a limit to the type of light source 2, the position estimation system 100 can estimate the position of the user U in the indoor space 3 in the information processing device 1.

[0037] As described above, the indoor space group position information is obtained by n and a plurality of light sources 21-2 n The plurality of light sources 21-2 each include blinking information about the blinking frequency for each of the different indoor spaces 3. n The arrangement of the light sources 21 to 22 differs for each indoor space 3, and the indoor space group position information includes information on the entrances and exits for each indoor space 3. The indoor space group position information also includes information on the light sources 21 to 22. n The brightness information of each of the above may be included.

[0038] If the light source 2 is not located in the connection space, which is the space connecting the entrances and exits of each indoor space 3, the information processing device 1 estimates that when the user U is present in the connection space, the video captured by the imaging unit 13 does not include light from the light source 2, and therefore the user U is not located within the indoor space 3.

[0039] When the user U enters the indoor space 3 through the entrance / exit of the indoor space 3, the information processing device 1 estimates that the user U is located within the indoor space 3 because the video captured by the imaging unit 13 includes light from the light source 2. If the blinking frequency of the light source 2 located near the entrance / exit of each indoor space 3 differs for each indoor space 3, the information processing device 1 can estimate which indoor space 3 the user U entered by determining the frequency of the rolling shutter effect. Thereafter, when the user U moves within the indoor space 3, the information processing device 1 can estimate the position of the user U within the indoor space 3 based on light from two or more light sources 2.

[0040] In addition, in the connecting space which is the space connecting the entrances and exits of each indoor space 3, light sources 21 to 2 n A light source that flashes at a different flashing frequency from the one in the connected space may be placed. In this case, when the user U is present in the connected space, the information processing device 1 estimates that the user U is located within the connected space because the video captured by the imaging unit 13 includes the light from the light source placed in the connected space.

[0041] The information processing device 1 can also store indoor space group position information for each of a plurality of different indoor space groups in an internal storage unit. In this case, the information processing device 1 estimates the indoor space group in which the user U is located among the plurality of indoor space groups indicated by the plurality of indoor space group position information.

[0042] For example, among the indoor space groups, multiple light sources 21 to 22 are used in all the indoor spaces 3. n By varying the arrangement of the light sources in the connection spaces, the information processing device 1 can estimate the indoor space group in which the user U is located among the multiple indoor space groups. Furthermore, by changing the blinking frequency of the light sources arranged in the connection spaces for each indoor space group, the information processing device 1 can also estimate the indoor space group in which the user U is located among the multiple indoor space groups.

[0043] Furthermore, the information processing device 1 can also estimate the movement route of the user U based on the position history stored in the internal storage unit. For example, the information processing device 1 can estimate the order of the indoor spaces 3 through which the user U moved as the movement route of the user U, or estimate the route that the user U moved for each indoor space 3.

[0044] In the above example, the detectable object is described as the user U, but the detectable object may also be an animal. Also, in the above example, the information processing device 1 is described as a smartphone, but the information processing device 1 may also be configured with a wireless camera having an imaging unit 13 and a server that wirelessly acquires video information from the wireless camera and estimates the position of the detectable object based on the acquired video information.

[0045] In this way, the information processing device 1 acquires indoor space group position information and video information. The indoor space group position information includes information indicating the arrangement of the plurality of light sources 2 that blink at different blinking frequencies and the plurality of light sources 21 to 2 n The video information includes information about the flashing frequency of each of the different indoor spaces 3. The video information includes information indicating a video obtained by capturing an image of an irradiation area, which is an area where light from two or more light sources out of the plurality of light sources 2 is irradiated, by a rolling shutter type imaging unit 13 carried or placed on the detection object.

[0046] The information processing device 1 then estimates the position of the user U, who is the object to be detected, based on the indoor space group position information and the effect caused by the rolling that occurs in the video shown in the video information. This allows the information processing device 1 to detect the position of the object to be detected in multiple indoor spaces 3 while suppressing an increase in the number of types of flashing light.

[0047] Hereinafter, the information processing device 1 that performs such processing and the plurality of light sources 21-22 arranged in each indoor space 3 will be described. n The configuration of the position estimation system 100 including the above will be described in detail.

[0048] 2. Configuration of the Position Estimation System 100 2 is a diagram showing an example of the configuration of a position estimation system 100 according to an embodiment. As shown in FIG. 2, the position estimation system 100 according to an embodiment includes an information processing device 1 and indoor spaces 31 to 32. m A plurality of light sources 21-2 are arranged in each of the n and a management device 4. Although not shown, the position estimation system 100 includes a plurality of information processing devices 1.

[0049] The information processing device 1 is a wireless terminal carried by a user U, and is, for example, a smartphone, a tablet PC, or a wearable device. Examples of the wearable device include, but are not limited to, smart glasses or a smart watch.

[0050] The management device 4 is a m A plurality of light sources 21-2 are arranged in each of the n and a plurality of light sources 21 to 2 n The flashing frequency and brightness of the plurality of light sources 21-2 can be changed. n blink at different blinking frequencies.

[0051] The information processing device 1 is wirelessly connected to the management device 4 via a network N so as to be able to communicate with the management device 4. The information processing device 1 can acquire indoor space group position information of each indoor space group from the management device 4 via the network N. Furthermore, the information processing device 1 can transmit position information indicating the estimated position of the user U to the management device 4 via the network N. The position estimation system 100 shown in FIG. 2 may include a plurality of management devices 4.

[0052] 3. Configuration of Information Processing Device 1 3 is a diagram showing an example of the configuration of the information processing device 1 according to the embodiment. As shown in FIG. 3, the information processing device 1 includes a communication unit 10, a display unit 11, an operation unit 12, an imaging unit 13, a sensor unit 14, a storage unit 15, and a processing unit 16.

[0053] [3.1. Communication Unit 10] The communication unit 10 is realized by, for example, a communication module or a network interface card (NIC). The communication unit 10 is connected to a network N by wire or wirelessly, and transmits and receives information to and from various other devices. For example, the communication unit 10 transmits and receives information to and from the management device 4 via the network N.

[0054] [3.2. Display section 11] The display unit 11 is, for example, an LCD (Liquid Crystal Display) or an organic EL (Electro Luminescence) display.

[0055] [3.3. Operation section 12] The operation unit 12 includes, for example, a keyboard including keys for inputting letters, numbers, and spaces, an enter key, and arrow keys, a mouse, a power button, etc. When the display unit 11 is a touch panel display device, the operation unit 12 may include a touch panel.

[0056] [3.4. Imaging unit 13] The imaging unit 13 is a camera that captures images using a rolling shutter system. For example, the imaging unit 13 includes a CMOS image sensor and a lens. Note that the imaging unit 13 is not limited to a built-in camera, and may be a wireless camera or the like.

[0057] For example, when the information processing device 1 is a smartphone or a tablet, the imaging unit 13 is a front camera or a rear camera. When the information processing device 1 is a pair of smart glasses, the imaging unit 13 is a camera that is arranged with the imaging direction facing upward, but is not limited to such an example.

[0058] [3.5. Sensor unit 14] The sensor unit 14 includes a position sensor, a gyro sensor, an acceleration sensor, a biosensor, etc. The position sensor receives a plurality of positioning signals transmitted from a plurality of positioning satellites in the Global Navigation Satellite System (GNSS), and detects the current position of the user U based on the received plurality of positioning signals.

[0059] The gyro sensor is a sensor that detects changes such as the tilt and rotation of the information processing device 1. The acceleration sensor is a sensor that detects the acceleration of the information processing device 1. The biosensor is, for example, a heart rate sensor, a blood pressure sensor, etc. The heart rate sensor detects the heart rate of the user U, etc. The blood pressure sensor detects the blood pressure of the user U.

[0060] [3.6. Storage section 15] The storage unit 15 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 15 has an indoor space group position information storage unit 20 and a position history storage unit 21.

[0061] The indoor space group position information storage unit 20 stores indoor space group position information for each indoor space group. n and a plurality of light sources 21-2 n The blinking information regarding each of the blinking frequencies of the different indoor spaces 31 to 3 m The blinking information includes information indicating the blinking frequency or the blinking period of the light source 2.

[0062] The indoor space group position information also includes information on the entrances and exits of each indoor space 3. Furthermore, when one or more light sources are arranged in a connection space, which is a space connecting the entrances and exits of each indoor space 3, the indoor space group position information also includes arrangement information indicating the arrangement of the one or more light sources in the connection space and information indicating the blinking frequency of the light source arranged in the connection space.

[0063] In addition, each indoor space group position information is a plurality of light sources 21 to 2 n The brightness information may include brightness information indicating the brightness (light source intensity) of each of the light sources, and information indicating the brightness of the light sources arranged in the connection space.

[0064] The position history storage unit 21 stores a position history including information indicating the position of the user U estimated by the processing unit 16 for each estimation by the processing unit 16. The position history storage unit 21 can also store information indicating the movement route of the user U.

[0065] [3.7. Processing Unit 16] The processing unit 16 is a controller, and is realized by a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) executing various programs (corresponding to examples of information processing programs) stored in a storage device inside the information processing device 1 using RAM or the like as a working area.

[0066] Furthermore, the processing unit 16 is a controller, and may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a GPGPU (General Purpose Graphic Processing Unit).

[0067] 3, the processing unit 16 includes a first acquisition unit 30, a second acquisition unit 31, an estimation unit 32, a display processing unit 33, and an output unit 34, and realizes or executes the functions and actions of information processing described below. Note that the internal configuration of the processing unit 16 is not limited to the configuration shown in FIG. 3, and may be any other configuration that performs the information processing described below.

[0068] [3.7.1. 1st acquisition part 30] The first acquisition unit 30 acquires indoor space group position information of each indoor space group. The indoor space group position information is obtained by acquiring indoor space group position information of a plurality of light sources 21-22 that flash at different flash frequencies. n and a plurality of light sources 21-2 n The blinking information regarding the blinking frequency of the indoor spaces 31 to 3 m Includes every.

[0069] When the indoor space group position information of each indoor space group is stored in the storage unit 15, the first acquisition unit 30 acquires the indoor space group position information of each indoor space group from the storage unit 15. Furthermore, when the indoor space group position information is not stored in the storage unit 15, the first acquisition unit 30 can also acquire the indoor space group position information from the management device 4 or the like via the network N and the communication unit 10.

[0070] The first acquisition unit 30 acquires the indoor spaces 31 to 3 m The indoor space group position information can also be obtained wirelessly via the communication unit 10 from a device installed in a facility or building where the indoor space group position information is installed.

[0071] [3.7.2.Second acquisition part 31] The second acquisition unit 31 acquires moving image information. For example, the second acquisition unit 31 acquires moving image information output from the imaging unit 13 from the imaging unit 13. The moving image information includes, for example, a plurality of light sources 21 to 2 n The information indicates a moving image obtained by capturing an image of an irradiation area, which is an area illuminated by light from one or more light sources 2, using the imaging unit 13 of the rolling shutter system.

[0072] [3.7.3. Estimation part 32] The estimation unit 32 estimates the position of the user U, who is the object to be detected, based on the indoor space group position information acquired by the first acquisition unit 30 and the rolling shutter effect that occurs in the video indicated by the video information acquired by the second acquisition unit 31.

[0073] The estimation unit 32 estimates the positional relationship between the one or more light sources 2 and the user U by comparing the magnitude and distribution of the rolling shutter effect caused by the one or more light sources 2 that appears in the video obtained by imaging the irradiation area, which is the area illuminated by light from the one or more light sources 2, using the imaging unit 13.

[0074] The estimation unit 32 calculates the frequency distribution of each pixel value of the moving image in the imaging region caused by the rolling shutter effect and the amplitude of each frequency. The estimation unit 32 calculates the frequency distribution of each pixel value of the moving image in the imaging region and the amplitude of each frequency, for example, by performing a Fourier transform on a pixel-by-pixel basis. The Fourier transform is, for example, a discrete Fourier transform or a fast Fourier transform. Alternatively, the estimation unit 32 can calculate the frequency distribution of each pixel value of the moving image in the imaging region and the amplitude of each frequency using a wavelet transform or a Hilbert transform instead of a Fourier transform.

[0075] The estimation unit 32 estimates, for example, the positional relationship between the imaging area and two or more light sources 2 based on the calculated frequency distribution and the amplitude of each frequency. The positional relationship between the imaging area and the two or more light sources 2 is the horizontal positional relationship between the two or more light sources 2 and the user U, and includes the distance of the imaging area from the two or more light sources 2 and the orientation of the imaging unit 13 relative to each of the two or more light sources 2. The orientation of the imaging unit 13 is the orientation of the information processing device 1. The estimation unit 32 estimates the positional relationship between the imaging area and the two or more light sources 2 as the positional relationship between the two or more light sources 2 and the user U.

[0076] For example, in a moving image obtained by imaging unit 13 of an illumination area, which is an area illuminated with 61 Hz light from light source 2 and 63 Hz light from light source 2, a phenomenon in which relatively dark areas or relatively bright areas move occurs at cycles of 1 Hz and 3 Hz, because the frame rate of imaging unit 13 is 60 fps. The 1 Hz frequency is the frequency of the rolling shutter effect caused by imaging unit 13 capturing 61 Hz light from light source 2. The 3 Hz frequency is the frequency of the rolling shutter effect caused by imaging unit 13 capturing 63 Hz light from light source 2.

[0077] The estimation unit 32 calculates the amplitude of a 1 Hz frequency and a 3 Hz frequency for each pixel value of the moving image. The estimation unit 32 determines, for each pixel, which of the 1 Hz frequency and the 3 Hz frequency has the larger amplitude. The estimation unit 32 estimates that, for each pixel, the light source 2 corresponding to the frequency with the larger amplitude is closer to the light source 2 corresponding to the frequency with the smaller amplitude than the light source 2 corresponding to the frequency with the larger amplitude.

[0078] The estimation unit 32 estimates the positional relationship between two or more light sources 2 and the user U based on the distribution of pixels estimated to be close to each light source 2. For example, assume that the imaging unit 13 captures an image of an area where the user U is located midway between two light sources 2 of the same brightness. Also assume that the rolling shutter effect caused by the light from one light source 2 appears at a frequency of 1 Hz, and the rolling shutter effect caused by the light from the other light source 2 appears at a frequency of 3 Hz. The magnitude of the rolling shutter effect caused by the light from one light source 2 is represented by the amplitude of the 1 Hz frequency, and the magnitude of the rolling shutter effect caused by the light from the other light source 2 is represented by the amplitude of the 3 Hz frequency.

[0079] In this case, the area of ​​the video that is close to one of the light sources 2 is an area where the amplitude of the 1 Hz frequency is greater than the amplitude of the 3 Hz frequency, and the rolling shutter effect caused by the light from one of the light sources 2 is large. Also, the area of ​​the video that is close to the other light source 2 is an area where the amplitude of the 3 Hz frequency is greater than the amplitude of the 1 Hz frequency, and the rolling shutter effect caused by the light from the other light source 2 is large.

[0080] The estimation unit 32 estimates the positional relationship between one light source 2 and the other light source 2 in the imaging area of ​​the imaging unit 13 based on the distribution of areas where the rolling shutter effect due to the light of one light source 2 is large and the distribution of areas where the rolling shutter effect due to the light of the other light source 2 is large.

[0081] For example, if the area where the rolling shutter effect due to the light of one light source 2 is large is larger than the area where the rolling shutter effect due to the light of the other light source 2 is large, the estimation unit 32 estimates that the imaging area, which is the area imaged by the imaging unit 13, is located closer to one light source 2 than the other light source 2.

[0082] Furthermore, the estimation unit 32 can estimate the difference between the distance from one light source 2 and the distance from the other light source 2 in the imaging area, which is the area imaged by the imaging unit 13, based on the ratio between the area where the rolling shutter effect due to the light from one light source 2 is large and the area where the rolling shutter effect due to the light from the other light source 2 is large. Furthermore, the estimation unit 32 can also estimate the distance from one light source 2 and the distance from the other light source 2 from the maximum amplitude (magnitude of the rolling shutter effect) in the video.

[0083] In addition, the estimation unit 32 can estimate the direction of one light source 2 relative to the orientation of the information processing device 1 based on the distribution of the magnitude of the rolling shutter effect caused by the light of one light source 2, and can estimate the direction of the other light source 2 relative to the orientation of the information processing device 1 based on the distribution of the magnitude of the rolling shutter effect caused by the light of the other light source 2.

[0084] The estimation unit 32, for example, removes noise from the image using a smoothing filter (e.g., a Gaussian filter) to remove noise, and then calculates amplitude gradients in the column direction (horizontal direction) and row direction (vertical direction) for each pixel based on the difference in amplitude (the magnitude of the rolling shutter effect) between adjacent pixels.The estimation unit 32 can then estimate the direction of the light source 2 by integrating the amplitude gradients of each pixel. Note that the method for estimating the direction of the light source 2 is not limited to this example.

[0085] In this way, the estimation unit 32 can estimate the position of the user U, who is the object to be detected, based on the magnitude of the rolling shutter effect corresponding to each of the light from two or more light sources 2 at each pixel of the video represented by the video information. The estimation unit 32 can also estimate the position and direction of one light source 2 based on the magnitude of the rolling shutter effect corresponding to the light from that one light source 2 at each pixel of the video represented by the video information.

[0086] The information processing device 1 also has a sensor unit 14 that includes an acceleration sensor, a gyro sensor, etc., and the estimation unit 32 can estimate the tilt of the imaging unit 13 with respect to the vertical direction based on information detected by the sensor unit 14. The estimation unit 32 can then correct the estimated position of the user U based on the estimated tilt. For example, the estimation unit 32 can calculate the horizontal distance between the information processing device 1 and the area imaged by the imaging unit 13 from the tilt of the information processing device 1 with respect to the horizontal direction, and correct the position of the user U using this distance as a correction.

[0087] In the above example, the position of the user U is estimated assuming that the brightness of each light source 2 is the same, but the brightness of each light source 2 may be different. In this case, the estimation unit 32 can correct the amplitude for each pixel using a correction value that corrects for the difference in brightness of the light sources 2.

[0088] The estimation unit 32 periodically estimates the position of the user U and stores the estimation result in the memory unit 15 as the movement history of the user U. The estimation unit 32 estimates the position of the user U in which indoor space 3, based on the newly estimated position of the user U, the movement history stored in the memory unit 15, and the indoor space group position information.

[0089] Multiple light sources 21~2 n The arrangement of the light sources 21 to 22 differs for each indoor space 3. nIn other words, the position estimation system 100 can estimate the position of the user U in the indoor space 3 without changing the type of light source 2 for each indoor space 3. Therefore, even if there is a limit to the type of light source 2, the position estimation system 100 can estimate the position of the user U in the indoor space 3 in the information processing device 1.

[0090] If the light source 2 is not located in the connection space, which is the space connecting the entrances and exits of each indoor space 3, the estimation unit 32 estimates that the user U is not located within the indoor space 3 because the video captured by the imaging unit 13 does not include light from the light source 2 when the user U is present within the connection space.

[0091] When the user U enters the indoor space 3 through the entrance / exit of the indoor space 3, the video captured by the imaging unit 13 includes light from the light source 2, and therefore the estimation unit 32 estimates that the user U is located within the indoor space 3. When the blinking frequency of the light source 2 located near the entrance / exit of each indoor space 3 differs for each indoor space 3, the estimation unit 32 can estimate which indoor space 3 the user U entered by determining the frequency caused by the rolling shutter effect. Thereafter, when the user U moves within the indoor space 3, the estimation unit 32 can estimate the position of the user U within the indoor space 3 based on light from two or more light sources 2.

[0092] In addition, in the connecting space, which is the space connecting the entrances and exits of each space, light sources 21 to 2 n A light source that flashes at a different flashing frequency from the light source arranged in the connection space may be placed. In this case, when the user U is present in the connection space, the estimation unit 32 estimates that the user U is located in the connection space because the video captured by the imaging unit 13 includes light from the light source arranged in the connection space.

[0093] Furthermore, the estimation unit 32 can estimate the indoor space group in which the user U is located among the indoor space groups indicated by the indoor space group position information. For example, among the indoor space groups, the plurality of light sources 21 to 22 in all the indoor spaces 3 can be estimated. n By varying the arrangement of the light sources in the connection spaces, the estimation unit 32 can estimate the indoor space group in which the user U is located among the multiple indoor space groups. The estimation unit 32 can also estimate the indoor space group in which the user U is located among the multiple indoor space groups by changing the blinking frequency of the light sources arranged in the connection spaces for each indoor space group.

[0094] The estimation unit 32 can also estimate the movement route of the user U based on the position history stored in the memory unit 15. For example, the estimation unit 32 can estimate the order of the indoor spaces 3 through which the user U moved as the movement route of the user U, or estimate the route taken by the user U for each indoor space 3.

[0095] The estimation unit 32 can also periodically estimate the movement direction and movement amount of the user U based on the acceleration detected by the sensor unit 14. The estimation unit 32 can also estimate the position of the user U within the indoor space 3 based on the estimated movement direction and movement amount of the user U and the magnitude of the rolling shutter effect corresponding to each of the light from the two or more light sources 2 at each pixel of the video indicated by the video information.

[0096] For example, if the estimation unit 32 cannot estimate the position of user U from the video information output from the imaging unit 13, it estimates the current position of user U based on the estimated direction and amount of movement of user U from the direction and amount of movement from the position of user U previously estimated from the video information.

[0097] Furthermore, when the video information output from the imaging unit 13 contains one frequency of the rolling shutter effect caused by the light of the light source 2, the estimation unit 32 can also calculate the distance from one light source 2 based on the amplitude of that frequency. When the video information output from the imaging unit 13 contains one frequency of the rolling shutter effect caused by the light of the light source 2, the estimation unit 32 can also calculate the orientation of the information processing device 1 with respect to one light source 2 based on the distribution of the amplitude of that frequency.

[0098] In addition, if the estimation unit 32 cannot estimate the position of the user U from the video information output from the imaging unit 13, it can also estimate the position of the user U within the indoor space 3 based on the past position of the user U detected by the position sensor of the sensor unit 14 and the magnitude of the rolling shutter effect corresponding to each of the light from one or more light sources 2 at each pixel of the video indicated by the video information.

[0099] [3.7.4. Display Processing Unit 33] The display processing unit 33 causes the display unit 11 to display the estimation result by the estimation unit 32. For example, the display processing unit 33 causes the display unit 11 to display information indicating the position of the user U estimated by the estimation unit 32.

[0100] For example, if the indoor space group position information includes map information of an area including the indoor space group, the display processing unit 33 can also display information on the display unit 11 showing a map indicating the position of the user U in the area including the indoor space group based on such map information.

[0101] In addition, if the indoor space group position information includes map information of an area including the indoor space group, the display processing unit 33 can also display information on the display unit 11 showing a map showing the movement route of the user U in the area including the indoor space group based on such map information.

[0102] [3.7.5. Output section 34] The output unit 34 outputs information indicating the estimation result by the estimation unit 32. For example, the output unit 34 transmits the information indicating the estimation result by the estimation unit 32 to the management device 4 via the communication unit 10 and the network N.

[0103] [4. Processing Procedure] Next, a procedure of information processing by the processing unit 16 of the information processing device 1 according to the embodiment will be described. Fig. 4 is a flowchart showing an example of information processing by the processing unit 16 of the information processing device 1 according to the embodiment.

[0104] 4, the processing unit 16 of the information processing device 1 determines whether or not moving image information has been acquired from the imaging unit 13 (step S10). If the processing unit 16 determines that moving image information has been acquired (step S10: Yes), the processing unit 16 acquires indoor space group position information from the storage unit 15 (step S11).

[0105] Next, the processing unit 16 estimates the position of the user U based on the video information and the indoor space group position information (step S12). Then, the processing unit 16 displays the estimated position of the user U (step S13). The processing unit 16 also outputs position information indicating the estimated position of the user U (step S14). For example, in step S14, the processing unit 16 transmits the position information to the management device 4 via the communication unit 10 and the network N.

[0106] When the processing of step S14 is completed or when it is determined that video information has not been acquired (step S10: No), the processing unit 16 determines whether or not the operation end timing has arrived (step S15). The processing unit 16 determines that the operation end timing has arrived when, for example, the power of the information processing device 1 is turned off.

[0107] If the processing unit 16 determines that the operation end time has not yet arrived (step S15: No), it proceeds to step S10, and if it determines that the operation end time has arrived (step S15: Yes), it terminates the processing shown in Figure 4.

[0108] [5. Modifications] As described above, the information processing device 1 may be configured with a wireless camera having an imaging unit 13 and a server that wirelessly acquires video information from the wireless camera and estimates the position of a detectable object based on the acquired video information. The wireless camera is placed on or carried by a user U or a detectable object such as an animal. In this case, the server is provided with some or all of the first acquisition unit 30, second acquisition unit 31, estimation unit 32, display processing unit 33, and output unit 34.

[0109] Furthermore, when the information processing device 1 is a wearable device having a display unit 11 and an imaging unit 13, the wearable device includes a display processing unit 33, and the server includes a first acquisition unit 30, a second acquisition unit 31, an estimation unit 32, and an output unit 34, but is not limited to such an example.

[0110] Furthermore, the processing unit 16 of the information processing device 1 transmits the information about the light sources 21 to 22 to the management device 4 via the communication unit 10 and the network N. n In this case, the management device 4 controls the light sources 21-2 at the blinking frequency and brightness indicated by the change command. n The management device 4 controls the light sources 21 to 22 with the flashing frequency and brightness for each indoor space 3. n can be controlled individually.

[0111] In the above example, the light sources 21-2 n However, the lighting color of each light source 2 may be different, and the combination of the lighting frequency and the lighting color may be different for each light source 2.

[0112] In the above example, the light sources 21 to 22 are used for each space group. n However, the number of light sources 2 may differ between space groups, and multiple light sources 2 with the same blinking frequency and brightness may be arranged in one space group.

[0113] Furthermore, when an abnormality occurs in the user U based on, for example, the detection result of a biosensor, the processing unit 16 of the information processing device 1 can cause the imaging unit 13 to output the above-mentioned video information, and estimate the position of the user U based on the video information by the above-mentioned processing. The processing unit 16 can also notify the management device 4 or a destination set by the user U of position information indicating the estimated position of the user U. Abnormalities in the user U include, for example, abnormal heart rate, abnormal blood pressure, etc., but are not limited to these examples.

[0114] Furthermore, when the tilt of the information processing device 1 detected by the sensor unit 14 is not horizontal, the display processing unit 33 can cause the display unit 11 to display a message that the information processing device 1 should be horizontal. Furthermore, when the tilt of the information processing device 1 detected by the sensor unit 14 is not horizontal, the output unit 34 can also cause a speaker (not shown) to output a message that the information processing device 1 should be horizontal.

[0115] In this case, the estimation unit 32 can also estimate the position of the user U from the video information output from the imaging unit 13 only when the tilt of the information processing device 1 detected by the sensor unit 14 is horizontal or the tilt from the horizontal is within a threshold value.

[0116] In addition, the estimation unit 32 can also increase the light receiving sensitivity of the imaging unit 13 if the position of the user U cannot be estimated from the video information output from the imaging unit 13 or if the proportion of times the position of the user U cannot be estimated is above a threshold value.

[0117] [6. Hardware Configuration] The information processing device 1 according to the embodiment described above is realized by, for example, a computer 80 configured as shown in Fig. 5. Fig. 5 is a hardware configuration diagram showing an example of the computer 80 that realizes the functions of the information processing device 1 according to the embodiment. The computer 80 has a CPU 81, a RAM 82, a ROM (Read Only Memory) 83, an HDD (Hard Disk Drive) 84, a communication interface (I / F) 85, an input / output interface (I / F) 86, and a media interface (I / F) 87.

[0118] The CPU 81 operates and controls each part based on programs stored in the ROM 83 or the HDD 84. The ROM 83 stores a boot program executed by the CPU 81 when the computer 80 starts up, programs that depend on the hardware of the computer 80, and the like.

[0119] The HDD 84 stores programs executed by the CPU 81, data used by such programs, etc. The communication interface 85 receives data from other devices via the network N (see FIG. 2) and sends it to the CPU 81, and transmits data generated by the CPU 81 to other devices via the network N.

[0120] The CPU 81 controls output devices such as a display and a printer, and input devices such as a keyboard or a mouse, via the input / output interface 86. The CPU 81 acquires data from the input devices via the input / output interface 86. The CPU 81 also outputs generated data to the output devices via the input / output interface 86.

[0121] The media interface 87 reads a program or data stored in a recording medium 88 and provides it to the CPU 81 via the RAM 82. The CPU 81 loads the program or data from the recording medium 88 onto the RAM 82 via the media interface 87 and executes the loaded program. The recording medium 88 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase Change Rewritable Disc), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0122] For example, when the computer 80 functions as the information processing device 1 according to the embodiment, the CPU 81 of the computer 80 executes programs loaded onto the RAM 82 to realize the functions of the processing unit 16. In addition, the HDD 84 stores data in the storage unit 15. The CPU 81 of the computer 80 reads and executes these programs from a recording medium 88, but as another example, the CPU 81 may obtain these programs from another device via the network N.

[0123] [7. Other] Furthermore, among the processes described in the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically using known methods. In addition, the information including the processing procedures, specific names, various data, and parameters shown in the above documents and drawings can be changed as desired unless otherwise specified. For example, the various information shown in each drawing is not limited to the information shown in the drawings.

[0124] Furthermore, the components of each device shown in the figure are conceptual functional components and do not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

[0125] For example, the information processing device 1 described above may be realized by a terminal device and a server computer, or may be realized by multiple server computers. Furthermore, depending on the function, the configuration can be flexibly changed, such as by calling an external platform using an API or network computing.

[0126] Furthermore, the above-described embodiments and modifications can be combined as appropriate within the scope of not causing any contradiction in the processing content.

[0127] [8. Effects] As described above, the information processing device 1 according to the embodiment includes the first acquisition unit 30, the second acquisition unit 31, and the estimation unit 32. The first acquisition unit 30 acquires the light signals from the plurality of light sources 21 to 22 that blink at different blinking frequencies. n and information indicating the arrangement of the plurality of light sources 21-2 n The information on the flashing frequency of the different indoor spaces 31 to 3 m The second acquisition unit 31 acquires indoor space group position information including each of the plurality of light sources 21 to 2 n The information processing device 1 acquires video information showing a video obtained by capturing an image of an illumination area, which is an area illuminated by light from two or more light sources 2 among the illumination areas, using a rolling shutter type imaging unit 13 carried or placed on the object to be detected. The estimation unit 32 estimates the position of the object to be detected based on the indoor space group position information acquired by the first acquisition unit 30 and the effect caused by rolling occurring in the video shown in the video information acquired by the second acquisition unit 31. In this way, the information processing device 1 can estimate the position of the plurality of indoor spaces 31-3 while suppressing an increase in the number of types of flashing light. m The position of the object to be detected can be detected.

[0128] Furthermore, the estimation unit 32 estimates the position of the detected object based on the magnitude of the rolling shutter effect corresponding to each of the lights of the two or more light sources at each pixel of the moving image indicated by the moving image information. As a result, the information processing device 1 can estimate the position of the detected object based on the magnitude of the rolling shutter effect corresponding to each of the lights of the two or more light sources at each pixel of the moving image indicated by the moving image information. m Therefore, the position of the object to be detected can be detected with high accuracy.

[0129] The space group position information also includes information on the entrances and exits of each indoor space 3. This allows the information processing device 1 to easily identify the indoor spaces 31 to 33 while suppressing an increase in the number of types of blinking light. m Therefore, the position of the object to be detected can be detected with high accuracy.

[0130] The indoor space group position information also includes information indicating the positions and blinking frequencies of light sources in the connection spaces, which are spaces connecting the entrances and exits of each indoor space 3. This allows the information processing device 1 to detect the positions and blinking frequencies of light sources in the indoor spaces 31 to 3 while suppressing an increase in the number of types of blinking light. m Therefore, the position of the object to be detected can be detected with high accuracy.

[0131] Furthermore, the first acquisition unit 30 acquires indoor space group position information for each of a plurality of different indoor space groups, and the estimation unit 32 estimates the indoor space group in which the detectable object is located among the plurality of indoor space groups. This allows the information processing device 1 to accurately detect the position of the detectable object in the plurality of indoor space groups while suppressing an increase in the number of types of blinking light.

[0132] Furthermore, the estimation unit 32 estimates the movement path of the detectable object in the indoor space group, thereby enabling the information processing device 1 to accurately detect the movement path of the detectable object in the indoor space group.

[0133] The above describes the embodiments of the present application in detail based on the drawings, but this is merely an example, and the present invention can be implemented in other forms that include the embodiments described in the Disclosure of the Invention section and that have been modified and improved in various ways based on the knowledge of those skilled in the art.

[0134] Furthermore, the above-mentioned "section, module, unit" can be read as "means" or "circuit," etc. For example, an acquisition unit can be read as an acquisition means or an acquisition circuit. [Explanation of symbols]

[0135] 1. Information processing equipment 2,21~2 n light source 3,31~3 m indoor space 4 Management device 10. Communications Department 11 Display section 12 Control section 13 Imaging unit 14 Sensor unit 15 Storage section 16 Processing section 20 Indoor space group position information storage unit 21 Location history memory unit 30 First acquisition part 31 Second acquisition part 32 Estimation part 33 Display processing section 34 Output section 100 Location Estimation System N Network

Claims

1. a first acquisition unit that acquires indoor space group position information including, for each of the different indoor spaces, information indicating an arrangement of a plurality of light sources that blink at different blinking frequencies and information regarding the blinking frequencies of the plurality of light sources; a second acquisition unit that acquires video information indicating a video obtained by capturing an image of an irradiation area, which is an area irradiated with light from two or more light sources among the plurality of light sources, using an imaging unit of a rolling shutter type that is carried or placed on the detection object; an estimation unit that estimates a position of the object to be detected based on the indoor space group position information acquired by the first acquisition unit and a rolling shutter effect that occurs in the moving image indicated by the moving image information acquired by the second acquisition unit.

1. An information processing device comprising:

2. The estimation unit The position of the object to be detected is estimated based on the magnitude of the rolling shutter effect corresponding to each of the lights of the two or more light sources at each pixel of the moving image indicated by the moving image information.

2. The information processing apparatus according to claim 1, wherein:

3. The indoor space group position information includes: Includes information on entrances and exits for each indoor space 3. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer.

4. The indoor space group position information includes: The information includes information indicating the position and flashing frequency of the light source in the connection space, which is a space connecting the entrances and exits of each of the indoor spaces.

4. The information processing apparatus according to claim 3,

5. The first acquisition unit acquiring indoor space group position information for each of a plurality of mutually different indoor space groups; The estimation unit An indoor space group in which the object to be detected is located is estimated from among the plurality of indoor space groups.

3. The information processing apparatus according to claim 1, wherein the information processing apparatus is a computer.

6. The estimation unit Estimating a movement path of the object to be detected in the indoor space group 6. The information processing apparatus according to claim 5,

7. 1. A computer-implemented information processing method, comprising: a first acquisition step of acquiring indoor space group position information including, for each of different indoor spaces, information indicating the arrangement of a plurality of light sources that blink at different blinking frequencies and information regarding the blinking frequencies of the plurality of light sources; a second acquisition step of acquiring video information indicating a video obtained by capturing an image of an irradiation area, which is an area irradiated with light from two or more light sources among the plurality of light sources, using a rolling shutter type imaging unit carried or placed on the detection object; an estimation step of estimating the position of the object to be detected based on the indoor space group position information acquired by the first acquisition step and a rolling shutter effect occurring in the moving image indicated by the moving image information acquired by the second acquisition step.

1. An information processing method comprising:

8. a first acquisition step of acquiring indoor space group position information including, for each of different indoor spaces, information indicating an arrangement of a plurality of light sources that blink at different blinking frequencies and information regarding the blinking frequencies of the plurality of light sources; a second acquisition step of acquiring video information indicating a video obtained by capturing an image of an irradiation area, which is an area irradiated with light from two or more light sources among the plurality of light sources, using an imaging unit of a rolling shutter type carried or placed on the detection object; an estimation step of estimating the position of the object to be detected based on the indoor space group position information acquired by the first acquisition step and a rolling shutter effect occurring in the moving image indicated by the moving image information acquired by the second acquisition step. An information processing program characterized by:

Images