Wireless communication terminal, information processing method, and program

Abstract

To provide a wireless communication terminal, an information processing method, and a program capable of identifying a three-dimensional position.SOLUTION: A wireless communication terminal 100 includes a camera, a position sensor, and an angle sensor, and includes: a map data storage unit that stores three-dimensional map data including structural information indicating the position and shape of a structure; a terminal information acquisition unit that acquires captured images taken by the camera and position and angle information on the wireless communication terminal at the time when the images were taken; a structure identification unit that identifies the structure included in the captured images; a structural information acquisition unit that acquires structural information on the structure identified by the structure identification unit from the three-dimensional map data; and a three-dimensional position identification unit that identifies the three-dimensional position of the wireless communication terminal based on the captured images, position information, and angle information acquired by the terminal information acquisition unit, and the structural information acquired by the structural information acquisition unit.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a wireless communication terminal, an information processing method, and a program. [Background technology]

[0002] Patent Document 1 describes "an optical axis alignment mechanism and an optical axis alignment method in a free-space optical communication device that can accurately align the optical axis despite a simple configuration, and that can perform pan-tilt operations in a small space, thereby enabling the device to be made more compact." Patent Document 2 describes "an optical communication tracking device that can align the optical axis with an optical communication tracking device of a similar configuration provided in a partner optical communication device." Patent Document 3 describes "an optical wireless system that uses light to perform wireless transmission, and an imaging device and a control device that transmit data using an optical wireless system." [Prior art document] [Patent Documents] [Patent Document 1] International Publication No. 2021 / 005684 [Patent Document 2] JP 2022-103994 A [Patent Document 3] International Publication No. 2013 / 084330 Summary of the Invention [Means for solving the problem]

[0003] According to one embodiment of the present invention, there is provided a wireless communication terminal. The wireless communication terminal may include a camera, a position sensor, and an angle sensor. The wireless communication terminal may include a map data storage unit that stores 3D map data including structure information indicating the position and shape of a structure. The wireless communication terminal may include a terminal information acquisition unit that acquires a captured image captured by the camera and position information and angle information of the wireless communication terminal when the captured image was captured. The wireless communication terminal may include a structure identification unit that identifies a structure included in the captured image. The wireless communication terminal may include a structure information acquisition unit that acquires the structure information of the structure identified by the structure identification unit from the 3D map data. The wireless communication terminal may include a 3D position identification unit that identifies the 3D position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired by the terminal information acquisition unit and the structure information acquired by the structure information acquisition unit.

[0004] In the wireless communication terminal, the three-dimensional position identification unit may identify a relative direction between the wireless communication terminal and the structure based on the shape of the structure included in the captured image and the shape of the structure indicated by the structure information, and identify the three-dimensional position of the wireless communication terminal using the identified relative direction, the position of the wireless communication terminal indicated by the position information, the angle of the wireless communication terminal indicated by the angle information, and the position of the structure indicated by the structure information. The three-dimensional position identification unit may identify the relative direction between the wireless communication terminal and the structure based on the shape of the structure included in the captured image, the shape of the structure indicated by the structure information, the time when the wireless communication terminal captured the captured image, and a shadow of the structure included in the captured image. The three-dimensional position identification unit may identify the relative direction between the wireless communication terminal and the structure by further using weather information for the area where the wireless communication terminal and the structure are located at the time when the wireless communication terminal captured the captured image.

[0005] In any of the wireless communication terminals, the terminal information acquisition unit may further acquire altitude information of the wireless communication terminal when the captured image was taken, measured by an altitude sensor possessed by the wireless communication terminal, and the three-dimensional position identification unit may identify the three-dimensional position of the wireless communication terminal further based on the altitude information.

[0006] In any of the wireless communication terminals, the structure identification unit may identify a plurality of structures included in the captured image, the structure information acquisition unit may acquire the structure information for each of the plurality of structures identified by the structure identification unit from the 3D map data, and the 3D position identification unit may identify the 3D position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired by the terminal information acquisition unit and the plurality of pieces of structure information acquired by the structure information acquisition unit.

[0007] In any of the wireless communication terminals, the terminal information acquisition unit may acquire a first captured image taken by the camera of the wireless communication terminal in a first direction, first position information and first angle information of the wireless communication terminal when the first captured image was taken, a second captured image taken by the camera of the wireless communication terminal in a second direction different from the first direction, and second position information and second angle information of the wireless communication terminal when the second captured image was taken, and the structure identification unit may identify a first structure included in the first captured image and a second structure included in the second captured image. The structure information acquisition unit may acquire first structure information and second structure information of the first structure and the second structure identified by the structure identification unit from the 3D map data, and the 3D position identification unit may identify the 3D position of the wireless communication terminal based on the first captured image, the first position information, and the first angle information acquired by the terminal information acquisition unit, the second captured image, the second position information, and the second angle information acquired by the structure information acquisition unit, and the first structure information and the second structure information acquired by the structure information acquisition unit.

[0008] Any of the wireless communication terminals may include a target three-dimensional position information acquisition unit that acquires target three-dimensional position information indicating the three-dimensional position of a target, and a display control unit that displays, on a display of the wireless communication terminal, guide data for adjusting the position and angle of the wireless communication terminal to the three-dimensional position indicated by the target three-dimensional position information, based on the three-dimensional position of the wireless communication terminal identified by the three-dimensional position identification unit and the target three-dimensional position information. The display control unit may display a marker at the three-dimensional position indicated by the target three-dimensional position information, based on the position and angle of the wireless communication terminal, and change a display mode of the marker depending on whether the position and angle of the wireless communication terminal match or do not match the three-dimensional position indicated by the target three-dimensional position information. The display control unit may change a color of the marker depending on whether the position and angle of the wireless communication terminal match or do not match the three-dimensional position indicated by the target three-dimensional position information.

[0009] According to one embodiment of the present invention, there is provided an information processing method executed by a wireless communication terminal. The wireless communication terminal may have a camera, a position sensor, and an angle sensor. The information processing method may include a terminal information acquisition step of acquiring a captured image captured by the camera and position information and angle information of the wireless communication terminal when the captured image was captured. The information processing method may include a structure identification step of identifying a structure included in the captured image. The information processing method may include a structure information acquisition step of acquiring structure information of the structure identified in the structure identification step from 3D map data including structure information indicating the position and shape of the structure. The information processing method may include a 3D position identification step of identifying the 3D position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired in the terminal information acquisition step and the structure information acquired in the structure information acquisition step.

[0010] According to one embodiment of the present invention, a program is provided for causing a wireless communication terminal having a camera, a position sensor, and an angle sensor to execute the following steps: a terminal information acquisition step for acquiring a captured image taken by the camera and position information and angle information of the wireless communication terminal when the captured image was taken; a structure identification step for identifying structures included in the captured image; a structure information acquisition step for acquiring structure information of the structure identified in the structure identification step from three-dimensional map data including structure information indicating the position and shape of the structure; and a three-dimensional position identification step for identifying the three-dimensional position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired in the terminal information acquisition step and the structure information acquired in the structure information acquisition step.

[0011] The above summary of the invention does not list all of the necessary features of the present invention, and subcombinations of these features may also constitute inventions. [Brief explanation of the drawings]

[0012] [Figure 1] 1 illustrates an example of a wireless communication terminal 100. [Figure 2] FIG. 2 is an explanatory diagram for explaining the wireless communication terminal 100 during photography. [Figure 3] FIG. 2 is an explanatory diagram for explaining the wireless communication terminal 100 during photography. [Figure 4] An example of a captured image 300 is shown schematically. [Figure 5] FIG. 2 is an explanatory diagram for explaining the processing content of the wireless communication terminal 100. [Figure 6] 1 is an explanatory diagram for explaining a specific example of processing content of the wireless communication terminal 100. FIG. [Figure 7] 10A and 10B show an example of how guide data is displayed by the wireless communication terminal 100. [Figure 8] 2 shows an example of a functional configuration of the wireless communication terminal 100. [Figure 9]1 shows an example of a hardware configuration of a computer 1200 that functions as the wireless communication terminal 100. DETAILED DESCRIPTION OF THE INVENTION

[0013] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0014] Optical wireless communication, currently capable of high-capacity communication up to 25 Gbps as a backhaul wireless communication, does not require licenses, extensive optical cable installation costs, or construction. This makes it ideal for ensuring communications during events and disasters, and it is expected to be used between islands and in remote areas. In particular, during disasters, the ability to remotely monitor high-precision video signals for on-site conditions and diagnostics, in addition to the general communication network, provides detailed information for decision-making and is important for rapid response. However, optical wireless communication, which is highly directional, requires extremely strict optical axis adjustment during installation. Currently, rough direction adjustment is performed manually using mirrors or on-board telescopes, which is a task that is inefficient and requires a certain level of experience. This problem becomes more pronounced as the distance between two points increases. The wireless communication terminal 100 according to this embodiment simplifies and shortens the work process, improving efficiency, by visualizing the process using guide displays, for example. Furthermore, the wireless communication terminal 100 is expected to automatically construct an optimal communication environment at all times by using AI (Artificial Intelligence) to perform operation and maintenance management of three-dimensional management, topographical data, past disaster data, etc. As a specific example, the wireless communication terminal 100 according to this embodiment allows optical axis adjustment to be performed while visually and numerically checking accurate position information based on three-dimensional position (latitude / longitude / height) and a guide display showing the installation position and direction of optical wireless devices, improving work efficiency by performing work that was previously done intuitively from visualized information.

[0015] 1 illustrates an example of a wireless communication terminal 100. The wireless communication terminal 100 may include a display 101, a camera 120, a position sensor 130, and an angle sensor 140.

[0016] The position sensor 130 measures the position of the wireless communication terminal 100. The position sensor 130 may measure the position of the wireless communication terminal 100 by GNSS (Global Navigation Satellite System) positioning such as GPS (Global Positioning System). The position sensor 130 may use other positioning methods such as Wi-Fi (registered trademark) (Wireless Fidelity) positioning or cell positioning, or may use a combination of these. The position sensor 130 may measure the planar position of the wireless communication terminal 100. The planar position is a two-dimensional position. The position sensor 130 may also measure the three-dimensional position of the wireless communication terminal 100. The three-dimensional position is a three-dimensional position.

[0017] The angle sensor 140 measures the angle of the wireless communication terminal 100. The angle sensor 140 may be, for example, a gyro sensor.

[0018] The wireless communication terminal 100 according to this embodiment determines the three-dimensional position of the wireless communication terminal 100 using a captured image captured by the camera 120, position information from the position sensor 130, angle information from the angle sensor 140, and three-dimensional map data (sometimes referred to as 3D map data) including structure information indicating the position and shape of the structure. The wireless communication terminal 100 may identify a structure included in the captured image, acquire structure information about the structure from the 3D map data, and determine the three-dimensional position of the wireless communication terminal 100 using the captured image, position information, angle information, and structure information. As an example, the wireless communication terminal 100 determines the relative direction between the wireless communication terminal 100 and the structure based on the shape of the structure included in the captured image and the shape of the structure indicated by the structure information, and determines the three-dimensional position of the wireless communication terminal 100 using the determined relative direction, the position of the wireless communication terminal 100 indicated by the position information, and the position of the structure indicated by the structure information. The three-dimensional position determined by the wireless communication terminal 100 in this manner is expected to have higher positional accuracy than the three-dimensional position measured by the position sensor 130.

[0019] The wireless communication terminal 100 can be used for various purposes. For example, the wireless communication terminal 100 is used for adjusting optical axes in optical wireless communication. In the example shown in FIG. 1 , the first wireless communication terminal 100 identifies its own three-dimensional position at a location where the first optical wireless communication device 200 is installed, and the second wireless communication terminal 100 identifies its own three-dimensional position at a location where the second optical wireless communication device 200 is installed. Then, for example, the second wireless communication terminal 100 transmits its own three-dimensional position to the first wireless communication terminal 100. The first wireless communication terminal 100 performs guidance to align the optical axes of the first optical wireless communication device 200 and the second optical wireless communication device 200 using its own three-dimensional position and the three-dimensional position of the second wireless communication terminal 100. By each of the first wireless communication terminal 100 and the second wireless communication terminal 100 identifying their own accurate three-dimensional positions, guidance to align the optical axes of the first optical wireless communication device 200 and the second optical wireless communication device 200 can be accurately performed.

[0020] 2 and 3 are explanatory diagrams illustrating the wireless communication terminal 100 when capturing an image. In this embodiment, for example, a user of the wireless communication terminal 100 captures an image with a distinctive structure positioned at the center. The wireless communication terminal 100 acquires a captured image including the structure, and position information and angle information of the wireless communication terminal 100 when the captured image was captured, and stores the information in association with the captured image.

[0021] Fig. 4 schematically shows an example of a captured image 300. Fig. 4 shows an example of the captured image 300 in which a structure 310 is set as the target structure. The wireless communication terminal 100 may analyze the captured image 300 to extract the structure 310 located at the center of the captured image 300 as the target structure.

[0022] The wireless communication terminal 100 may extract the structure 310 based on the 3D map data and the imaging conditions of the camera 120. For example, the wireless communication terminal 100 determines the line-of-sight distance at the time of imaging from the telephoto lens magnification of the camera 120. As an example, the line-of-sight distance is set to approximately 3.5 km when the telephoto lens magnification is 1. The wireless communication terminal 100 then searches within a 3.5 km radius from the wireless communication terminal 100 based on the position information of the wireless communication terminal 100 measured by the position sensor 130 when the captured image 300 was captured, and extracts the target structure 310 using image processing technology. The wireless communication terminal 100 may identify the structure 310 by matching feature points of the shape using the shape included in the structure information included in the 3D map data.

[0023] The wireless communication terminal 100 may store the position information of the wireless communication terminal 100 when the captured image 300 was captured, measured by the position sensor 130, the angle information of the wireless communication terminal 100 when the captured image 300 was captured, measured by the angle sensor 140, and the captured image 300 in association with each other.

[0024] 5 is an explanatory diagram for explaining the processing content of the wireless communication terminal 100. The wireless communication terminal 100 may identify the three-dimensional position of the wireless communication terminal 100 based on the position indicated by the position information of the wireless communication terminal 100 when the captured image 300 was captured, the altitude of the wireless communication terminal 100, and the accurate position and shape (altitude) of the structure 310 indicated by the structure information of the structure 310 included in the captured image 300 acquired from the 3D map data. The altitude of the wireless communication terminal 100 may be the altitude included in the position information of the wireless communication terminal 100, or may be the altitude measured by an altitude sensor of the wireless communication terminal 100 when the captured image 300 was captured. In either case, the altitude is often not accurate.

[0025] The wireless communication terminal 100 may determine the relative direction between the wireless communication terminal 100 and the structure 310 based on the shape of the structure 310 included in the captured image 300 and the shape of the structure indicated by the structure information. The position and shape of the structure 310 indicated by the structure information included in the 3D map data may be highly accurate, and the relative direction determined based on these may be relatively accurate. The wireless communication terminal 100 may determine the three-dimensional position of the wireless communication terminal 100 by prioritizing the determined relative direction and correcting the position indicated by the position information of the wireless communication terminal 100 and the altitude of the wireless communication terminal 100.

[0026] The wireless communication terminal 100 may identify the relative direction between the wireless communication terminal 100 and the structure 310 by using the shape of the structure 310 included in the captured image 300, the shape of the structure indicated by the structure information, the time when the wireless communication terminal 100 captured the captured image 300, and the shadow of the structure 310 included in the captured image 300. The wireless communication terminal 100 can accurately grasp the position and shape of the structure 310 by using the structure information included in the 3D map data. The position of the sun can be estimated by the time when the wireless communication terminal 100 captured the captured image 300, and the imprint of the structure 310 can be estimated from the estimated position of the sun. For example, the wireless communication terminal 100 temporarily determines the relative direction between the wireless communication terminal 100 and the structure 310 based on the shape of the structure 310 included in the captured image 300 and the shape of the structure indicated by the structure information, and finally determines the relative direction by comparing the estimated seal imprint with the shadow of the structure 310 included in the captured image 300 and correcting the provisionally determined relative direction as necessary. For example, the wireless communication terminal 100 assumes that the provisionally determined relative direction is correct and compares the estimated seal imprint with the shadow of the structure 310 included in the captured image 300, and if there is no difference, sets the provisionally determined relative direction as the finally determined relative direction. For example, the wireless communication terminal 100 assumes that the provisionally determined relative direction is correct and compares the estimated seal imprint with the shadow of the structure 310 included in the captured image 300, and if there is a difference, adjusts the provisionally determined relative direction to reduce the difference, and finally determines the relative direction.

[0027] 6 is an explanatory diagram for explaining a specific example of processing content of the wireless communication terminal 100. In this example, the wireless communication terminal 100 performs calculations using a captured image 402 including a structure 310, plane information 404 measured by the position sensor 130 when the captured image 402 was captured, and gyro information 406 measured by the angle sensor 140 when the captured image 402 was captured.

[0028] The wireless communication terminal 100 performs image recognition 408 on the captured image 402 , and performs feature point extraction 410 and seal imprint state extraction 412 on a plurality of structures included in the captured image 402 .

[0029] Furthermore, the wireless communication terminal 100 executes the imaging target range extraction 414 using the plane information 404. The wireless communication terminal 100 extracts, as the imaging target range, a imaging line-of-sight range centered on the plane position indicated by the plane information 404. The wireless communication terminal 100 may also execute the imaging target range extraction 414 using the gyro information 406. For example, the wireless communication terminal 100 extracts, as the imaging target range, a imaging line-of-sight range centered on the plane position indicated by the plane information 404 and in the direction indicated by the gyro information 406.

[0030] The wireless communication terminal 100 executes object identification 418 using the results of feature point extraction 410, seal imprint state extraction 412, and shooting target range extraction 414, as well as 3D map data 416. The wireless communication terminal 100 identifies a portion of the 3D map data 416 that corresponds to the shooting target range extracted by shooting target range extraction 414, and identifies the target structure 310 (sometimes referred to as the target object) from the identified portion using the feature points and seal imprint state.

[0031] The wireless communication terminal 100 acquires structure information of the object identified by the object identification 418 from 3D structure data 420 included in the 3D map data 416, and acquires object position information 422 from the structure information. In addition, the wireless communication terminal 100 identifies photographed seal imprint information 424 using the result of the seal imprint state extraction 412, the 3D structure data 420, and the gyro information 406.

[0032] Then, the wireless communication terminal 100 uses the plane information 404, the gyro information 406, the object position information 422, and the captured seal imprint information 424 to identify the 3D position information 426.

[0033] The wireless communication terminal 100 may generate correction value calculation data 428 using the specified 3D position information 426, the plane information 404, and the gyro information 406. The correction value calculation data 428 may be data for correcting the three-dimensional position of the wireless communication terminal 100 specified by the plane information 404 and the gyro information 406 to an accurate three-dimensional position. The wireless communication terminal 100 executes the process shown in FIG. 6 multiple times to specify multiple pieces of 3D position information 426, and generates correction value calculation data 428 using multiple combinations of the plane information 404, the gyro information 406, and the 3D position information 426, thereby making it possible to correct the three-dimensional position of the wireless communication terminal 100 specified by the plane information 404 and the gyro information 406 to an accurate three-dimensional position under any conditions.

[0034] The wireless communication terminal 100 may generate correction value calculation data 430 using the gyro information 406 and the seal imprint state extraction 412. The correction value calculation data 430 may be data for correcting the angle information measured by the gyro information 406 to more accurate angle information.

[0035] 7 schematically shows an example of guide data 150 by the wireless communication terminal 100. The guide data 150 may be data for adapting the position and angle of the wireless communication terminal 100 to target three-dimensional position information indicating the three-dimensional position of the target. The wireless communication terminal 100 acquires the target three-dimensional position information from outside, and displays the guide data 150 based on the target three-dimensional position information and 3D position information 426 identified by the wireless communication terminal 100 itself.

[0036] In the example shown in FIG. 7 , the guide data 150 includes a guide 152 and a marker 154. The guide 152 is a line that makes it easier to grasp the center point. The marker 154 indicates a three-dimensional position indicated by the target three-dimensional position information, based on the position and angle of the wireless communication terminal 100. The display position of the marker 154 changes as the position and angle of the wireless communication terminal 100 change. When the marker 154 coincides with the center of the guide 152, the wireless communication terminal 100 may display the marker 154 so that the position and angle of the wireless communication terminal 100 match the three-dimensional position indicated by the target three-dimensional position. This allows the user of the wireless communication terminal 100 to adjust the position and angle of the wireless communication terminal 100 to match the three-dimensional position indicated by the target three-dimensional position by adjusting the position and angle of the wireless communication terminal 100 so that the marker 154 is located at the center of the guide 152.

[0037] The wireless communication terminal 100 may change the display mode of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the target three-dimensional position information. For example, the wireless communication terminal 100 changes the color of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the target three-dimensional position information. As an example, the wireless communication terminal 100 displays the marker 154 in red when the position and angle of the wireless communication terminal 100 do not match the three-dimensional position indicated by the target three-dimensional position information, and displays the marker 154 in green when they match. This makes it possible to provide the user with a display that makes it easy to intuitively understand the matching state.

[0038] 8 schematically illustrates an example of the functional configuration of the wireless communication terminal 100. The wireless communication terminal 100 includes a storage unit 102, a map data acquisition unit 104, a terminal information acquisition unit 106, a structure identification unit 108, a structure information acquisition unit 110, a three-dimensional position identification unit 112, an object three-dimensional position information acquisition unit 114, a display control unit 116, and a weather information acquisition unit 118. Note that it is not essential for the wireless communication terminal 100 to include all of these units.

[0039] The map data acquisition unit 104 acquires 3D map data. The storage unit 102 stores the 3D map data acquired by the map data acquisition unit 104. The map data acquisition unit 104 may acquire 3D map data for the entire world. The map data acquisition unit 104 may acquire 3D map data for a target country. The map data acquisition unit 104 may acquire 3D map data for a target region. For example, if the target country is Japan, the target region may be in units of cities, wards, towns, and villages, or may be an arbitrarily specified range.

[0040] The 3D map data includes structure information that indicates the positions and shapes of structures that exist within the target area. Examples of structures include, but are not limited to, buildings and other structures, and include any object that has a structure.

[0041] The terminal information acquisition unit 106 acquires a captured image captured by the camera 120. The terminal information acquisition unit 106 acquires position information measured by the position sensor 130. The terminal information acquisition unit 106 acquires angle information measured by the angle sensor 140. When an image is captured by the camera 120, the terminal information acquisition unit 106 may acquire the captured image, as well as position information and angle information at the time the captured image was captured.

[0042] When the wireless communication terminal 100 has an altitude sensor, the terminal information acquisition unit 106 may acquire altitude information measured by the altitude sensor. When an image is captured by the camera 120, the terminal information acquisition unit 106 may acquire a captured image, as well as position information, angle information, and altitude information at the time the captured image was captured.

[0043] The structure identification unit 108 identifies a structure included in the captured image acquired by the terminal information acquisition unit 106. For example, the structure identification unit 108 identifies a structure located at the center of the captured image. The structure identification unit 108 may identify a structure specified by the user of the wireless communication terminal 100 from the captured image. The structure identification unit 108 may identify multiple structures from one captured image.

[0044] The structure information acquisition unit 110 acquires, from the 3D map data, structure information of the structure identified by the structure identification unit 108. The structure information acquisition unit 110 may, for example, identify the shooting range from the position information and angle information acquired by the terminal information acquisition unit 106, identify a structure whose characteristics match those of the structure identified by the structure identification unit 108 from a portion of the 3D map data corresponding to the shooting range, and acquire structure information corresponding to the identified structure.

[0045] The structure information acquisition unit 110 may accept a designation by the user of the wireless communication terminal 100. For example, the structure information acquisition unit 110 displays three-dimensional map data on the display 101 and accepts a designation of a structure by the user who has taken a photograph using the wireless communication terminal 100.

[0046] The three-dimensional position specifying unit 112 specifies the three-dimensional position of the wireless communication terminal 100 based on the captured image, position information, and angle information acquired by the terminal information acquiring unit 106 and the structure information acquired by the structure information acquiring unit 110. The three-dimensional position specifying unit 112 may use the planar position and altitude included in the position information. When the terminal information acquiring unit 106 has acquired altitude information measured by an altitude sensor, the three-dimensional position specifying unit 112 may use the planar position information included in the position information and the altitude information measured by the altitude sensor.

[0047] For example, the three-dimensional position specifying unit 112 specifies the relative direction between the wireless communication terminal 100 and the structure based on the shape of the structure included in the captured image and the shape of the structure indicated by the structure information. Then, the three-dimensional position specifying unit 112 specifies the three-dimensional position of the wireless communication terminal 100 using the specified relative direction, the position of the wireless communication terminal 100 indicated by the position information, the altitude indicated by the position information or the altitude information, the angle of the wireless communication terminal 100 indicated by the angle information, and the position of the structure indicated by the structure information.

[0048] The three-dimensional position specifying unit 112 may estimate the distance between the wireless communication terminal 100 and the structure based on the structure included in the captured image and the structure information. For example, the three-dimensional position specifying unit 112 estimates the distance between the wireless communication terminal 100 and the structure based on the magnification of the camera 120, the size of the structure in the captured image, and the actual size of the structure indicated by the structure information. The three-dimensional position specifying unit 112 may specify the three-dimensional position of the wireless communication terminal 100 using the specified relative direction, the estimated distance, the position of the wireless communication terminal 100 indicated by the position information, the altitude indicated by the position information or the altitude information, and the position of the structure indicated by the structure information.

[0049] The three-dimensional position identification unit 112 may identify the relative direction between the wireless communication terminal 100 and the structure using the shape of the structure included in the captured image, the shape of the structure indicated by the structure information, the time when the wireless communication terminal 100 captured the captured image, and the shadow of the structure included in the captured image. The position of the sun can be estimated based on the time when the wireless communication terminal 100 captured the captured image 300, and the imprint of the structure can be estimated from the estimated position of the sun. For example, the three-dimensional position identification unit 112 tentatively identifies the relative direction between the wireless communication terminal 100 and the structure based on the shape of the structure included in the captured image and the shape of the structure indicated by the structure information, and finally determines the relative direction by comparing the estimated imprint with the shadow of the structure included in the captured image and correcting the tentatively determined relative direction as necessary. For example, the three-dimensional position identification unit 112 assumes that the tentatively determined relative direction is correct, compares the estimated imprint with the shadow of the structure included in the captured image, and if there is no discrepancy, sets the tentatively determined relative direction as the finally determined relative direction. For example, the three-dimensional position identification unit 112 assumes that the provisionally determined relative direction is correct, compares the estimated seal impression with the shadow of a structure contained in the captured image, and if there is a difference, adjusts the provisionally determined relative direction so as to reduce the difference, and then determines the actual relative direction.

[0050] Although the position and shape of the structure included in the structure information can be said to be basically accurate, errors may be included in the relative direction determined from the captured image and the structure information, the distance between the wireless communication terminal 100 and the structure estimated from the captured image and the structure information, the position information measured by the position sensor 130, and the altitude information measured by the altitude sensor. In response to this, the three-dimensional position determination unit 112 can improve the accuracy of determining the three-dimensional position of the wireless communication terminal 100 by using these in a combined manner.

[0051] The three-dimensional position determination unit 112 may, for example, determine the three-dimensional position (sometimes referred to as the first three-dimensional position) of the wireless communication terminal 100 from the relative direction determined from the captured image and the structure information, the distance between the wireless communication terminal 100 and the structure estimated from the captured image and the structure information, and the position of the structure included in the structure information, and may determine the three-dimensional position (sometimes referred to as the second three-dimensional position) of the wireless communication terminal 100 from only the position information measured by the position sensor 130, or from the position information measured by the position sensor 130 and the altitude information measured by the altitude sensor, and may determine the three-dimensional position of the wireless communication terminal 100 from the first three-dimensional position and the second three-dimensional position.

[0052] For example, the three-dimensional position specifying unit 112 specifies the midpoint between the first three-dimensional position and the second three-dimensional position as the three-dimensional position of the wireless communication terminal 100. This makes it possible to specify the three-dimensional position of the wireless communication terminal 100 taking into consideration both the three-dimensional position specified from the captured image and the structure information and the three-dimensional position specified from only the position sensor 130 or the three-dimensional position specified from the position sensor 130 and the altitude sensor.

[0053] The three-dimensional position identification unit 112 may identify the three-dimensional position of the wireless communication terminal 100 by prioritizing one of the first three-dimensional position and the second three-dimensional position over the other. For example, when prioritizing the first three-dimensional position, the three-dimensional position identification unit 112 identifies a point on a line connecting the first three-dimensional position and the second three-dimensional position, closer to the first three-dimensional position, as the three-dimensional position of the wireless communication terminal 100. The degree to which the three-dimensional position is determined to be closer to the first three-dimensional position may be set in advance. For example, when the priority of the first three-dimensional position is set to 2 and the priority of the second three-dimensional position is set to 1, the three-dimensional position identification unit 112 identifies a point on a line connecting the first three-dimensional position and the second three-dimensional position, two-thirds of the way from the first three-dimensional position, as the three-dimensional position of the wireless communication terminal 100. The priorities of the first three-dimensional position and the second three-dimensional position may be set arbitrarily or may be changeable after being set. For example, in a situation where a structure included in a captured image cannot be accurately captured due to bad weather or other reasons, by lowering the priority of the first three-dimensional position relative to the second three-dimensional position, it is expected that the accuracy of the identified three-dimensional position of the wireless communication terminal 100 will be improved. Also, for example, in an environment where the positioning accuracy of the position sensor 130 is low, it is expected that the accuracy of the identified three-dimensional position of the wireless communication terminal 100 will be improved by lowering the priority of the second three-dimensional position relative to the first three-dimensional position. Also, for example, in an environment where the positioning accuracy of the position sensor 130 is considered to be very high, it is expected that the accuracy of the identified three-dimensional position of the wireless communication terminal 100 will be improved by lowering the priority of the second three-dimensional position relative to the first three-dimensional position.

[0054] When the structure identification unit 108 identifies multiple structures from the captured image, the structure information acquisition unit 110 may acquire structure information for each of the multiple structures from the 3D map data. The 3D position identification unit 112 may identify the 3D position of the wireless communication terminal 100 using the multiple pieces of structure information acquired by the structure information acquisition unit 110. For example, the 3D position identification unit 112 identifies the 3D position of the wireless communication terminal 100 for each of the multiple structures using the structure information included in the captured image. Then, the 3D position identification unit 112 identifies the 3D position of the wireless communication terminal 100 from the multiple 3D positions of the wireless communication terminal 100 identified using the multiple pieces of structure information and the 3D position of the wireless communication terminal 100 identified using the position information or the position information and altitude information. Using multiple structures can contribute to improving the accuracy of identifying the 3D position of the wireless communication terminal 100.

[0055] The terminal information acquisition unit 106 may acquire a plurality of captured images. For example, the terminal information acquisition unit 106 may acquire a first captured image captured in a first direction by the camera 120 of the wireless communication terminal 100, first position information and first angle information of the wireless communication terminal 100 when the first captured image was captured, a second captured image captured in a second direction different from the first direction by the camera 120 of the wireless communication terminal 100, and second position information and second angle information of the wireless communication terminal 100 when the second captured image was captured. In this case, the structure identification unit 108 may identify a first structure included in the first captured image and a second structure included in the second captured image, and the structure information acquisition unit 110 may acquire first structure information and second structure information of the first structure and second structure identified by the structure identification unit from the 3D map data. The three-dimensional position specifying unit 112 may specify the three-dimensional position of the wireless communication terminal 100 based on the first captured image, first position information, and first angle information, the second captured image, second position information, and second angle information acquired by the terminal information acquiring unit 106, and the first structure information and second structure information acquired by the structure information acquiring unit 110. For example, the three-dimensional position specifying unit 112 specifies the three-dimensional position of the wireless communication terminal 100 using the three-dimensional position of the wireless communication terminal 100 specified using the first captured image and the first structure information, the three-dimensional position of the wireless communication terminal 100 specified using the first position information, the three-dimensional position of the wireless communication terminal 100 specified using the second captured image and the second structure information, and the three-dimensional position of the wireless communication terminal 100 specified using the second position information.

[0056] The target three-dimensional position information acquisition unit 114 acquires target three-dimensional position information indicating the three-dimensional position of the target. The target three-dimensional position information acquisition unit 114 acquires target three-dimensional position information received from another wireless communication terminal 100, for example.

[0057] The display control unit 116 displays guide data 150 on the display 101 of the wireless communication terminal 100 to adapt the position and angle of the wireless communication terminal 100 to the three-dimensional position indicated by the target three-dimensional position information, based on the three-dimensional position of the wireless communication terminal 100 identified by the three-dimensional position identification unit 112 and the target three-dimensional position information acquired by the target three-dimensional position information acquisition unit 114.

[0058] For example, the display control unit 116 displays the marker 154 at a three-dimensional position indicated by the target three-dimensional position information, based on the position and angle of the wireless communication terminal 100. The display control unit 116 may change the display mode of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match the three-dimensional position indicated by the target three-dimensional position information or not.

[0059] For example, the display control unit 116 changes the color of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the front elephant three-dimensional position information. For example, the display control unit 116 changes the shape of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the front elephant three-dimensional position information. The display control unit 116 changes the size of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the front elephant three-dimensional position information. The display control unit 116 changes the transparency of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the front elephant three-dimensional position information. The display control unit 116 changes the type of the marker 154 depending on whether the position and angle of the wireless communication terminal 100 match or do not match the three-dimensional position indicated by the front elephant three-dimensional position information.

[0060] The weather information acquisition unit 118 acquires weather information for the area where the wireless communication terminal 100 and the structure are located when the camera 120 of the wireless communication terminal 100 captured the captured image. The three-dimensional position identification unit 112 may further use the weather acquired by the weather information acquisition unit 118 to identify the relative direction between the wireless communication terminal 100 and the structure. For example, the three-dimensional position identification unit 112 estimates the position of the sun based on the time when the wireless communication terminal 100 captured the captured image 300, and estimates the imprint of the structure from the estimated position of the sun and the weather information. By using the weather information, the imprint of the structure can be estimated taking into account differences such as sunny, cloudy, and rainy weather, thereby improving the accuracy of the imprint estimation.

[0061] 9 schematically illustrates an example of the hardware configuration of a computer 1200 functioning as the wireless communication terminal 100. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "units" of an apparatus according to the present embodiment, or can cause the computer 1200 to perform operations associated with the apparatus according to the present embodiment or one or more "units," and / or can cause the computer 1200 to perform a process according to the present embodiment or steps of the process. Such a program can be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0062] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communications interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid-state drive, or the like. The computer 1200 also includes a ROM 1230 and legacy input / output units such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0063] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data created by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into the graphics controller itself, and causes the image data to be displayed on the display device 1218.

[0064] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0065] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or programs that depend on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0066] The programs are provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0067] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0068] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and may perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0069] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequences of the programs, and write the results back to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0070] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0071] The blocks in the flowcharts and block diagrams in the present embodiments may represent stages of a process in which an operation is performed or "parts" of an apparatus responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, including integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0072] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture, including instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick, integrated circuit card, etc.

[0073] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0074] The computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or another programmable data processing device processor or programmable circuit locally or via a local area network (LAN) or a wide area network (WAN) such as the Internet, so that the processor or programmable circuit of the programmable data processing device, such as a computer, executes the computer-readable instructions to create means for performing the operations specified in the flowcharts or block diagrams. Here, the computer may be a personal computer (PC), a tablet computer, a smartphone, a workstation, a server computer, a general-purpose computer, a special-purpose computer, or the like, or may be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system, and is a broad definition of computers. In a distributed computing system, multiple computers collectively execute a program by each executing a portion of the program and passing data between computers as needed during program execution.

[0075] Examples of processors include computer processors, central processing units, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of a program and passes data between processors as needed during program execution, allowing the multiple processors to collectively execute the program. For example, in multitasking, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at time slice intervals. In this case, which portion of a program each processor executes changes dynamically. Which portion of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0076] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0077] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0078] 100 wireless communication terminal, 101 display, 102 memory unit, 104 map data acquisition unit, 106 terminal information acquisition unit, 108 structure identification unit, 110 structure information acquisition unit, 112 3D position identification unit, 114 target 3D position information acquisition unit, 116 display control unit, 118 weather information acquisition unit, 120 camera, 130 position sensor, 140 angle sensor, 150 guide data, 152 guide, 154 marker, 200 optical wireless communication device, 300 captured image, 310 structure, 402 captured image, 404 plane information, 406 gyro information, 408 image recognition, 410 feature point extraction, 412 seal impression state extraction, 414 capture target range extraction, 416 3D map data, 418 target identification, 420 3D structure data, 422 Object position information, 424 photographed imprint information, 426 3D position information, 428 correction value calculation data, 430 correction value calculation data, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 input / output chip

Claims

1. A wireless communication terminal having a camera, a position sensor, and an angle sensor, a map data storage unit that stores three-dimensional map data including structure information that indicates the positions and shapes of structures; a terminal information acquisition unit that acquires a captured image captured by the camera and position information and angle information of the wireless communication terminal when the captured image was captured; a structure identification unit that identifies a structure included in the captured image; a structure information acquisition unit that acquires the structure information of the structure identified by the structure identification unit from the three-dimensional map data; a three-dimensional position specifying unit that specifies a three-dimensional position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired by the terminal information acquiring unit and the structure information acquired by the structure information acquiring unit; A wireless communication terminal comprising:

2. 2. The wireless communication terminal according to claim 1, wherein the three-dimensional position identification unit identifies a relative direction between the wireless communication terminal and the structure from the shape of the structure included in the captured image and the shape of the structure indicated by the structure information, and identifies the three-dimensional position of the wireless communication terminal using the identified relative direction, the position of the wireless communication terminal indicated by the position information, the angle of the wireless communication terminal indicated by the angle information, and the position of the structure indicated by the structure information.

3. 3. The wireless communication terminal according to claim 2, wherein the three-dimensional position identification unit identifies a relative direction between the wireless communication terminal and the structure using the shape of the structure included in the captured image, the shape of the structure indicated by the structure information, the time when the wireless communication terminal captured the captured image, and a shadow of the structure included in the captured image.

4. The wireless communication terminal according to claim 3, wherein the three-dimensional position determination unit further uses weather information of the area in which the wireless communication terminal and the structure are located at the time the wireless communication terminal took the captured image to determine the relative direction between the wireless communication terminal and the structure.

5. the terminal information acquisition unit further acquires altitude information of the wireless communication terminal when the captured image was captured, the altitude information being measured by an altitude sensor included in the wireless communication terminal; The wireless communication terminal according to claim 1 , wherein the three-dimensional position specifying unit specifies the three-dimensional position of the wireless communication terminal further based on the altitude information.

6. the structure identification unit identifies a plurality of structures included in the captured image; the structure information acquisition unit acquires, from the three-dimensional map data, the structure information for each of the plurality of structures identified by the structure identification unit; 5. The wireless communication terminal according to claim 1, wherein the three-dimensional position identification unit identifies the three-dimensional position of the wireless communication terminal based on the captured image, the position information, and the angle information acquired by the terminal information acquisition unit, and the plurality of pieces of structure information acquired by the structure information acquisition unit.

7. the terminal information acquisition unit acquires a first captured image captured by the camera of the wireless communication terminal in a first direction, first position information and first angle information of the wireless communication terminal when the first captured image was captured, a second captured image captured by the camera of the wireless communication terminal in a second direction different from the first direction, and second position information and second angle information of the wireless communication terminal when the second captured image was captured, the structure identification unit identifies a first structure included in the first captured image and a second structure included in the second captured image; the structure information acquisition unit acquires, from the three-dimensional map data, first structure information and second structure information of the first structure and the second structure identified by the structure identification unit; 5. The wireless communication terminal according to claim 1, wherein the three-dimensional position identification unit identifies the three-dimensional position of the wireless communication terminal based on the first captured image, the first position information, and the first angle information acquired by the terminal information acquisition unit, the second captured image, the second position information, and the second angle information acquired by the structure information acquisition unit, and the first structure information and the second structure information acquired by the structure information acquisition unit.

8. an object three-dimensional position information acquisition unit that acquires object three-dimensional position information indicating a three-dimensional position of an object; a display control unit that displays, on a display of the wireless communication terminal, guide data for adapting a position and an angle of the wireless communication terminal to the three-dimensional position indicated by the target three-dimensional position information, based on the three-dimensional position of the wireless communication terminal identified by the three-dimensional position identification unit and the target three-dimensional position information; The wireless communication terminal according to claim 1 , comprising:

9. The wireless communication terminal according to claim 8, wherein the display control unit displays a marker at a three-dimensional position indicated by the target three-dimensional position information based on the position and angle of the wireless communication terminal, and changes the display mode of the marker depending on whether the position and angle of the wireless communication terminal match the three-dimensional position indicated by the target three-dimensional position information or not.

10. The wireless communication terminal according to claim 9, wherein the display control unit changes the color of the marker depending on whether the position and angle of the wireless communication terminal match or do not match the three-dimensional position indicated by the target three-dimensional position information.

11. An information processing method executed by a wireless communication terminal having a camera, a position sensor, and an angle sensor, a terminal information acquisition step of acquiring a captured image taken by the camera and position information and angle information of the wireless communication terminal when the captured image was taken; a structure identification step of identifying a structure included in the captured image; a structure information acquisition step of acquiring structure information of the structure identified in the structure identification step from three-dimensional map data including structure information indicating the position and shape of the structure; a three-dimensional position specifying step of specifying a three-dimensional position of the wireless communication terminal based on the photographed image, the position information, and the angle information acquired in the terminal information acquiring step and the structure information acquired in the structure information acquiring step; An information processing method comprising:

12. A wireless communication terminal having a camera, a position sensor, and an angle sensor, a terminal information acquisition step of acquiring a captured image taken by the camera and position information and angle information of the wireless communication terminal when the captured image was taken; a structure identification step of identifying a structure included in the captured image; a structure information acquisition step of acquiring structure information of the structure identified in the structure identification step from three-dimensional map data including structure information indicating the position and shape of the structure; a three-dimensional position specifying step of specifying a three-dimensional position of the wireless communication terminal based on the photographed image, the position information, and the angle information acquired in the terminal information acquiring step and the structure information acquired in the structure information acquiring step; A program to execute.

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