Information processing system, information processing method, and program

Abstract

To improve a technology regarding detection of a person using a detection device.SOLUTION: An information processing system 1 includes a specification apparatus 20 that specifies a person at a predetermined position as a specific person; at least one recognition apparatus 30 that recognizes a person in a geographic range corresponding to each of the apparatus, as an unspecified person; and an information processing apparatus 10. The information processing apparatus 10 acquires a movement history indicating a temporal change in a position of a first unspecified person by analyzing a result recognized by the at least one recognition apparatus 30, determines whether the specific person and the first unspecified person are identical on the basis of, a time and the predetermined position 25 at which the specification apparatus 20 has specified the specific person and the movement history of the first unspecified person, and causes a storage apparatus to store the movement history of the first unspecified person in association with the specific person, in a case in which the specific person and the first unspecified person are determined to be identical.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing system, an information processing method, and a program. [Background technology]

[0002] Conventionally, there are known techniques for detecting objects using a detection device such as a radar. For example, Patent Document 1 discloses a technique for detecting objects using a sensor that uses a radar and assisting driving based on the detected information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 239471 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is room for improvement in the technology for detecting people using a detection device.

[0005] An object of the present disclosure is to improve techniques relating to the detection of people using a detection device. [Means for solving the problem]

[0006] An information processing system according to an embodiment of the present disclosure includes: an identification device that identifies a person present at a predetermined location as a specific person; At least one recognition device that recognizes a person present in a geographical area corresponding to the device as an unspecified person; an information processing device that communicates with the identifying device and the at least one recognition device; An information processing system comprising: The information processing device includes: acquiring a movement history indicating a change in the position of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time and the predetermined location at which the identification device identified the specified person and the movement history of the first unspecified person; If it is determined that the specified person and the first unspecified person are the same person, the movement history of the first unspecified person is stored in a storage device in association with the specified person.

[0007] An information processing method according to an embodiment of the present disclosure includes: an identification device that identifies a person present at a predetermined location as a specific person; At least one recognition device that recognizes a person present in a geographical area corresponding to the device as an unspecified person; an information processing device that communicates with the identifying device and the at least one recognition device; An information processing method for an information processing system comprising: The information processing device, acquiring a movement history indicating a change in the position of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time when the identification device identified the specified person, the predetermined location, and the movement history of the first unspecified person; a step of storing the movement history of the first unspecified person in a storage device in association with the specified person when it is determined that the specified person and the first unspecified person are the same person; Includes:

[0008] A program according to an embodiment of the present disclosure includes: Computer, An information processing device that communicates with an identification device that identifies a person present at a predetermined location as a specific person, and at least one recognition device that recognizes a person present in a geographical area corresponding to the device as an unspecified person, acquiring a movement history indicating a change in the position of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time and the predetermined location at which the identification device identified the specified person and the movement history of the first unspecified person; When it is determined that the specified person and the first unspecified person are the same person, the movement history of the first unspecified person is stored in a storage device in association with the specified person. Operate it as an information processing device. [Effects of the Invention]

[0009] According to an embodiment of the present disclosure, a technique for detecting a person using a detection device is improved. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram illustrating a schematic configuration of an information processing system according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a block diagram showing a schematic configuration of an information processing device. [Figure 3] FIG. 2 is a block diagram showing a schematic configuration of a specific device. [Figure 4] FIG. 1 is a block diagram showing a schematic configuration of a recognition device. [Figure 5] FIG. 2 is a block diagram showing a schematic configuration of the imaging device. [Figure 6] 1 is a map showing an example of an urban area to which an information processing system is applied. [Figure 7] 10 is a flowchart illustrating an operation of the information processing device. [Figure 8] 10 is a flowchart showing the procedure of a movement history acquisition process. [Figure 9] 10 is a flowchart showing the procedure of an identity determination process. [Figure 10] FIG. 4 is a diagram showing an example of a sample of first data stored in a first storage device. [Figure 11]FIG. 10 is a diagram showing an example of a sample of second data stored in a second storage device. [Figure 12] FIG. 10 is a diagram showing an example of a velocity vector determined based on second data. [Figure 13] FIG. 10 is a diagram showing an example of a movement history extracted from the result of recognition by the recognition device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described.

[0012] (Outline of the embodiment) An overview of an information processing system 1 according to an embodiment of the present disclosure will be described with reference to FIG. 1 . The information processing system 1 includes an information processing device 10, an identification device 20, at least one recognition device 30, a photographing device 40, a first storage device 50, and a second storage device 60. The information processing device 10, the identification device 20, the at least one recognition device 30, the photographing device 40, the first storage device 50, and the second storage device 60 are communicably connected to a network 70, which may include, for example, the Internet and a mobile communication network. Hereinafter, an example will be described in which the information processing system 1 includes only one of the information processing device 10, the identification device 20, the photographing device 40, the first storage device 50, and the second storage device 60; however, at least one of these devices may be two or more. The identification device 20 and the at least one photographing device 40 are installed within a specific geographical area, such as a town, a specific site, or a building. Hereinafter, an example will be described in which the identification device 20 and the at least one photographing device 40 are installed within a town, but these devices may be installed within any desired geographical area.

[0013] The information processing device 10 is, for example, a computer such as a server device, etc. The information processing device 10 is capable of communicating with the image capturing device 40, the first storage device 50, and the second storage device 60 via a network 70.

[0014] The identification device 20 is a device that identifies a person present at a predetermined location as a specific person and acquires identification information that identifies the person. The identification device 20 may identify the person by, for example, receiving data such as a user ID (identity) from a terminal carried by the person or by reading the person's biometric information.

[0015] The recognition devices 30 are devices that recognize people present in a geographical area corresponding to their own devices as unspecified people. The recognition devices 30 can recognize the positions of people present in the geographical area corresponding to their own devices. The recognition devices 30 may recognize people using, for example, millimeter-wave radar or an infrared sensor. As will be described later, the recognition result of the unspecified person by the recognition device 30 may be used to extract the movement history of the unspecified person.

[0016] The photographing device 40 is a device that photographs a person and acquires a photographed image. The photographed image acquired by the photographing device 40 may be stored in association with the movement history of an unspecified person who was recognized as a person by the recognition device 30 but not identified by the identification device 20.

[0017] The identification device 20 may be installed only in one specific location, while at least one recognition device 30 may be installed in at least one location throughout the city. Alternatively, the identification device 20 may be installed only in public places, while the recognition device 30 may be installed in both public and private spaces. For example, the identification device 20 may be installed at the entrance of a residential building to identify a person, such as a resident or visitor, entering the residential building. The recognition device 30 may track the person's behavior after entering the residential building.

[0018] The first storage device 50 is a device that stores, as first data, information including identification information of a person identified by the identification device 20, the time and location at which the person was identified. The second storage device 60 is a device that stores, as second data, information including the location of a person recognized by the recognition device 30, the time at which the person was recognized, and a velocity vector. The velocity vector may be determined, for example, by the information processing device 10 analyzing the recognition results by the recognition device 30. The first storage device 50 and the second storage device 60 may be realized, for example, by network storage. Alternatively, the first storage device 50 or the second storage device 60 may be realized by storage built into or external to the information processing device 10. Alternatively, the first storage device 50 may be realized by storage built into or external to the identification device 20 and accessible from the information processing device 10. The second storage device 60 may be realized by distributed storage built into or external to at least one recognition device 30 and accessible from the information processing device 10.

[0019] First, an overview of this embodiment will be described, and details will be provided later. In the above-described configuration, the information processing device 10 acquires a movement history indicating a change in the location of a first unspecified person over time by analyzing the recognition results of at least one recognition device 30. The information processing device 10 determines whether the specified person and the first unspecified person are the same based on the time and predetermined location at which the identification device 20 identified a person as a specified person and the movement history of the first unspecified person. If it is determined that the specified person and the first unspecified person are the same, the information processing device 10 associates the movement history of the first unspecified person with the specified person and stores it in a storage device.

[0020] As described above, in this embodiment, a specific person is associated with a movement history based on the identification result of the identification device 20 and the movement history of the unspecified person based on the recognition result of at least one recognition device 30. Therefore, the information processing system 1 can identify an unspecified person recognized by the recognition device 30. Since the movement history is acquired without identifying the person, the privacy of the person can be protected. On the other hand, for a person identifiable by the identification device 20 (e.g., a city resident), the movement history can be stored in association with that person (i.e., the movement history can be stored in a format that allows the individual to be identified), which is useful from the perspective of, for example, crime prevention or security. Furthermore, the information processing system 1 can acquire movement history over a wide geographical area by using at least one recognition device 30. According to this embodiment, the number of expensive identification devices 20 may be small, thereby enabling cost reduction. Furthermore, according to this embodiment, an individual cannot be identified solely based on the recognition result obtained using the recognition device 30. Therefore, even if the recognition result is leaked, privacy can be protected. Therefore, according to this embodiment, person detection technology is improved in terms of realizing low system construction costs and privacy protection.

[0021] Next, each component of the information processing system 1 will be described in detail.

[0022] (Configuration of information processing device) As shown in FIG. 2, the information processing device 10 includes a control unit 11, a storage unit 12, and a communication unit 13.

[0023] The control unit 11 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor may be, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process, but is not limited to these. The programmable circuit may be, for example, but is not limited to, an FPGA (Field-Programmable Gate Array). The dedicated circuit may be, for example, but is not limited to, an ASIC (Application Specific Integrated Circuit). The control unit 11 controls the overall operation of the information processing device 10.

[0024] The storage unit 12 includes one or more memories. The memories may be, for example, semiconductor memories, magnetic memories, optical memories, or the like, but are not limited to these. Each memory included in the storage unit 12 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 12 stores any information used in the operation of the information processing device 10. For example, the storage unit 12 may store system programs, application programs, databases, map information, and the like. The information stored in the storage unit 12 may be updatable with information obtained from the network 70 via the communication unit 13, for example.

[0025] The communication unit 13 includes one or more communication interfaces connected to the network 70. This communication interface is compatible with, for example, a mobile communication standard such as 4G (4th Generation) or 5G (5th Generation), a wired local area network (LAN) standard, or a wireless LAN standard, but is not limited to these and may be compatible with any communication standard. In this embodiment, the information processing device 10 is capable of communicating with the identification device 20, at least one recognition device 30, the image capture device 40, the first storage device 50, and the second storage device 60 via the communication unit 13 and the network 70. Note that the information processing device 10 may also communicate with devices other than the identification device 20, at least one recognition device 30, the image capture device 40, the first storage device 50, and the second storage device 60, such as a smartphone carried by a person, via the communication unit 13 and the network 70.

[0026] (Configuration of specific device) As shown in FIG. 3, the identifying device 20 includes a control unit 21, an identification information acquisition unit 22, a storage unit 23, and a communication unit 24.

[0027] The control unit 21 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 21 controls the operation of the specific device 20 as a whole.

[0028] The identification information acquisition unit 22 is a device that identifies a person present at a predetermined location and acquires identification information that identifies the person. For example, the identification information acquisition unit 22 may identify the individual holding a terminal by receiving data such as a user ID from the terminal held by the person. Such a terminal may be, for example, a smartphone, but may also be an employee ID card or an entrance card. When identifying a person based on the terminal held by the person, the identification information acquisition unit 22 may communicate with the terminal using a wireless communication method such as Bluetooth (registered trademark) or NFC (Near Field Communication). When communicating via Bluetooth (registered trademark), the identification information acquisition unit 22 can identify terminals in 10 cm increments, thereby enabling simultaneous identification of multiple people. The identification information acquisition unit 22 may directly acquire biometric information related to the person's fingerprint, iris, face, or the like, and identify the person using the biometric information itself or information that identifies the person corresponding to the biometric information as identification information. That is, the identification information acquisition unit 22 may include a camera or a biometric sensor.

[0029] The storage unit 23 includes one or more memories. Each memory included in the storage unit 23 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 23 stores any information used in the operation of the specified device 20. For example, the storage unit 23 may store a system program, an application program, a database, map information, etc. The information stored in the storage unit 23 may be updatable with information obtained from the network 70 via the communication unit 24, for example.

[0030] The communication unit 24 includes one or more communication interfaces connected to the network 70. This communication interface corresponds to, for example, a mobile communication standard, a wired LAN standard, or a wireless LAN standard, but is not limited to these and may correspond to any communication standard. In this embodiment, the specific device 20 can communicate with the information processing device 10 and the first storage device 50 via the communication unit 24 and the network 70.

[0031] When the identification information acquisition unit 22 acquires the identification information of a person present at a predetermined location, the control unit 21 of the identification device 20 stores information including the identification information, the location where the identification information was acquired, and the time when the identification information was acquired as first data in the first storage device 50. That is, the control unit 21 transmits the first data from the communication unit 24 to the first storage device 50 via the network 70, and stores the first data in the first storage device 50. The control unit 21 may communicate with the first storage device 50 via a secure communication channel such as an encrypted communication channel. This prevents information regarding the behavior of the person identified by the identification device 20 from being leaked, and protects the person's privacy.

[0032] (Configuration of recognition device) As shown in FIG. 4, the recognition device 30 includes a control unit 31, a radar unit 32, a storage unit 33, and a communication unit .

[0033] The control unit 31 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 31 controls the overall operation of the recognition device 30.

[0034] The radar unit 32 transmits millimeter waves within a geographical range corresponding to the recognition device 30 and receives reflected waves. If an object, such as a person, is present within the corresponding geographical range, the object reflects the millimeter waves. The recognition device 30 recognizes the object based on the reflected waves received by the radar unit 32 from the object. In this embodiment, when a moving object is recognized, the recognition device 30 recognizes the object as an unspecified person. The radar unit 32 may recognize objects in a grid of 50 cm x 50 cm to several meters x several meters within a geographical range of, for example, several meters x several meters to several tens of meters x several tens of meters. Furthermore, the radar unit 32 may be capable of recognizing the three-dimensional position of the object. For example, when the recognition device 30 is installed 2.4 meters above the floor, the recognition device 30 may also be able to recognize the height of the object within the corresponding geographical range within a range from the floor to 2.4 meters above the floor.

[0035] In this embodiment, an example in which the recognition device 30 is realized by a millimeter-wave radar will be described. However, the recognition device 30 is not limited to a configuration based on a millimeter-wave radar as long as it is a device that can recognize unspecified people present in a geographical area corresponding to the recognition device 30. For example, the recognition device 30 may be configured using an infrared sensor or the like. By configuring the recognition device 30 using a millimeter-wave radar or an infrared sensor, the recognition device 30 can be provided at a lower cost than the identification device 20.

[0036] The storage unit 33 includes one or more memories. Each memory included in the storage unit 33 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 33 stores any information used in the operation of the recognition device 30. For example, the storage unit 33 may store a system program, an application program, a database, map information, etc. The information stored in the storage unit 33 may be updatable with information obtained from the network 70 via the communication unit 34, for example.

[0037] The communication unit 34 includes one or more communication interfaces connected to the network 70. The communication interfaces may be compatible with, for example, a mobile communication standard, a wired LAN standard, or a wireless LAN standard, but are not limited to these and may be compatible with any communication standard. In this embodiment, the recognition device 30 can communicate with the information processing device 10 and the second storage device 60 via the communication unit 24 and the network 70.

[0038] When the radar unit 32 recognizes an unspecified person present in the geographical area corresponding to the recognition device 30, the control unit 31 of the recognition device 30 stores information including the time and location at which the unspecified person was recognized as second data in the second storage device 60. That is, the control unit 31 transmits the second data from the communication unit 34 to the second storage device 60 via the network 70, and stores the second data in the second storage device 60. The control unit 31 may communicate with the second storage device 60 via a secure communication channel such as an encrypted communication channel. This prevents information regarding the behavior of the unspecified person recognized by the recognition device 30 from being leaked, and protects the person's privacy.

[0039] If the control unit 31 of the recognition device 30 can acquire not only the location and time at which an unspecified person was recognized but also other information, the control unit 31 may store the information as second data in the second storage device 60. For example, the control unit 31 may calculate a velocity vector of an unspecified person based on a temporal change in the location of the unspecified person present in a geographical area corresponding to the recognition device 30. If the velocity vector is calculated, the control unit 31 may store information including the velocity vector as second data in the second storage device 60 in addition to the time and location at which the unspecified person was recognized. Furthermore, the control unit 31 may recognize that an unspecified person is the same when the unspecified person is recognized in a nearby position at a nearby timing. For example, when recognizing objects at a fixed frame interval (e.g., 0.1 seconds), the control unit 31 may recognize that the unspecified person is the same when the distance between the location of the unspecified person recognized in a certain frame and the location of the unspecified person recognized in an adjacent frame is equal to or less than a predetermined threshold (e.g., 1 m). When the control unit 31 recognizes that unspecified persons recognized at different times and in different positions are the same, the control unit 31 may assign an object ID to the unspecified person so that the unspecified person can be distinguished from other unspecified persons. The control unit 31 may store such object ID as second data in the second storage device 60. The control unit 31 may also store identification information that identifies the recognition device 30 as second data in the second storage device 60.

[0040] (Configuration of imaging device) As shown in FIG. 5, the photographing device 40 includes a control unit 41, a photographing unit 42, a storage unit 43, and a communication unit 44.

[0041] The control unit 41 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 41 controls the overall operation of the imaging device 40.

[0042] The photographing unit 42 is a device that generates a photographed image by photographing a subject that is present within the photographing range of the photographing device 40. The photographing unit 42 is, for example, an RGB (Red Green Blue) camera that generates a color image, but may alternatively be a camera that generates a grayscale image or a black and white image.

[0043] The storage unit 43 includes one or more memories. Each memory included in the storage unit 43 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 43 stores any information used in the operation of the image capturing device 40. For example, the storage unit 43 may store system programs, application programs, databases, map information, etc. The information stored in the storage unit 43 may be updatable with information obtained from the network 70 via the communication unit 44, for example.

[0044] The communication unit 44 includes one or more communication interfaces that connect to the network 70. This communication interface is compatible with, for example, a mobile communication standard, a wired LAN standard, or a wireless LAN standard, but is not limited to these and may be compatible with any communication standard. In this embodiment, the image capture device 40 is capable of communicating with the information processing device 10 via the communication unit 44 and the network 70.

[0045] When the photographing unit 42 photographs a subject, the control unit 41 of the photographing device 40 stores information including the photographed image, time, and location in the storage unit 43 as third data. The control unit 41 stores the third data in the storage unit 43 for a certain period (e.g., one week) and then erases the third data. In response to a request from the information processing device 10, the control unit 41 may transmit the photographed image to the information processing device 10 from the communication unit 44 via the network 70. When transmitting the photographed image, the control unit 41 may communicate with the information processing device 10 via a secure communication channel such as an encrypted communication channel. This prevents information regarding the behavior of a person photographed by the photographing device 40 from being leaked and protects the person's privacy. In this embodiment, the photographing device 40 stores the third data including the photographed image in the storage unit 43. However, the third data may also be stored in a storage device, such as a network storage, connected to the network 70.

[0046] (Example of application of information processing systems) Here, an example will be described in which the information processing system 1 is applied to an urban area as shown in Fig. 6. Fig. 6 is a map showing an example of an urban area to which the information processing system 1 is applied. In the example of Fig. 6, one identification device 20, three recognition devices 30 (30a, 30b, 30c), and one photographing device 40 are installed near a road in the urban area.

[0047] The identification device 20 identifies a person present at the predetermined position 25 as a specific person. When the identification device 20 identifies a person, it stores first data in the first storage device 50, the first data including the time when the person was identified, the predetermined position 25, and the person's identification information.

[0048] The recognition devices 30 (30a, 30b, 30c) recognize people present in the geographical ranges 35 (35a, 35b, 35c) corresponding to their respective devices as unspecified people. In the example of FIG. 6, the recognition device 30c can recognize a person 80 present in the geographical range 35c. The recognition device 30c acquires the location and time of the recognized person 80, and stores second data including this information in the second storage device 60.

[0049] The image capturing device 40 captures an image of a target object within its own image capturing range and generates a captured image. In the example of Fig. 6, the image capturing device 40 always captures images within its own image capturing range, which is substantially the same as the geographic range 35c of the recognition device 30c.

[0050] Below, an example will be described in which an arbitrary point on the map shown in FIG. 6 is identified by XY coordinates (X, Y) in an XY coordinate system with the upper left corner of FIG. 6 as the origin (reference point). Here, the X coordinate value increases as you move to the right in FIG. 6. The Y coordinate value increases as you move downward in FIG. 6. For example, in FIG. 6, the position of predetermined position 25 is (60, 60). The position of person 80 is (120, 120). Below, an example will be described in which the X coordinate and Y coordinate values ​​are numerical values ​​that represent the distance from the origin in meters (m).

[0051] (Operation flow of information processing device) The operation of the information processing device 10 will be described with reference to Figs. 7 to 12. Figs. 7 to 9 are flowcharts showing the operation of the information processing device 10. The operation of the information processing device 10 described with reference to Figs. 7 to 9 may correspond to one of the information processing methods according to this embodiment. The operation of each step in Figs. 7 to 9 is executed under the control of the control unit 11. A program for causing a computer to execute the information processing method according to this embodiment may include each step shown in Figs. 7 to 9. An example of a process for identifying an unspecified person 80 recognized at a certain time by a certain recognition device (for example, recognition device 30c) will be described below.

[0052] Step S1: The control unit 11 acquires the result of the person identification performed by the identification device 20.

[0053] Specifically, the control unit 11 may access the first storage device 50 and refer to the first data stored in the first storage device 50. FIG. 10 is a diagram illustrating an example of a sample of the first data stored in the first storage device 50. In the example of FIG. 10, the coordinates of the predetermined position 25 at which the identification device 20 identifies a person are (60, 60). In the example of FIG. 10, at the predetermined position 25, "User A" is identified at 14:50:00, and "User B" is identified at 15:35:00. Hereinafter, a case will be described in which the control unit 11 acquires information including the time 14:50:00, the predetermined position (60, 60), and the identification information "User A" as an identification result. Note that if the first data is stored in the storage unit 23 of the identification device 20, the control unit 11 may access the identification device 20 and acquire the identification result by the identification device 20.

[0054] Step S2: The control unit 11 acquires the result of recognition of an unspecified person by each of at least one recognition device 30 (30a, 30b, 30c).

[0055] Specifically, the control unit 11 may access the second storage device 60 and refer to the second data stored in the second storage device 60 as the recognition results of the unspecified person by the recognition devices 30 (30a, 30b, 30c). FIG. 11 is a diagram illustrating an example of a sample of the second data stored in the second storage device 60. In the example of FIG. 11, the recognition results by all of the recognition devices 30 (30a, 30b, 30c) are stored in chronological order along with the identification information of the recognition devices 30a, 30b, 30c. For example, in FIG. 11, as the recognition results by the recognition device 30c, an unspecified person identified by the object ID "c0001" is recognized at a position (120, 119) at time 14:51:59 and at a position (120, 120) at time 14:52:00. In addition, if the second data is stored in the memory unit 33 of each recognition device 30 (30a, 30b, 30c), the control unit 11 may access each recognition device 30 (30a, 30b, 30c) and obtain the recognition results by the recognition device 30 (30a, 30b, 30c).

[0056] The recognition device 30 (30a, 30b, 30c) recognizes objects (including people) in the geographical range 35 (35a, 35b, 35c) corresponding to the device itself by transmitting and receiving millimeter-wave radar at a constant sampling rate. Therefore, the second data may include not only information specifying the position of the recognized object in units of seconds, but also information specifying the position of the recognized object in smaller time units (for example, units of time less than one second).

[0057] Step S3: The control unit 11 analyzes the results of recognition by the recognition device 30 (30a, 30b, 30c) to obtain a movement history indicating changes in the position of a certain unspecified person 80 over time.

[0058] Specifically, the control unit 11 executes the movement history acquisition process (steps S11 to S16) shown in FIG. 8 for the second data sample included in the identification result obtained in step S1 and for the time after the time when the identification device 20 identified the person.

[0059] Step S11: The control unit 11 refers to the second data and analyzes the results of recognition by a certain recognition device (first recognition device, for example, recognition device 30c), thereby determining the position (first position) and velocity vector (first velocity vector) of a first unspecified person 80 at a certain time (first time) when the first recognition device 30c recognizes the first unspecified person 80.

[0060] Specifically, the control unit 11 may extract multiple samples of second data considered to be data of the same person and determine a first velocity vector based on the change in position per unit time of the extracted second data. The velocity vector is a vector indicating the amount and direction of movement of a target person in the X and Y directions per unit time. For example, the control unit 11 may extract second data of unspecified people assigned the same object ID by the same recognition device 30 as second data of the same person. If the second data does not include an object ID, the control unit 11 may extract, for example, multiple samples of second data of unspecified people recognized by the same recognition device 30, where the difference in time and position is equal to or less than a predetermined threshold, as second data of the same person. The threshold for such difference in time and position may be determined, for example, based on the moving speed of a normal pedestrian. For example, the control unit 11 may extract, for example, multiple samples of second data where the movement distance in a time period less than one second is within several meters, as second data of the same person. The control unit 11 may determine a first velocity vector of the first unspecified person 80 based on the position and time of the first unspecified person 80 indicated by the extracted plurality of second data.

[0061] If the second data stored in the second storage device 60 includes information other than the recognized position and time of the unspecified person, the control unit 31 may use this information when determining the first velocity vector. For example, as described above, if the second data includes information such as the identification information of the recognition device 30 and an object ID, the control unit 11 may use this information to determine the identity of the unspecified person and determine the first velocity vector. Alternatively, for example, if the second data includes a velocity vector determined by the recognition device 30 (30a, 30b, 30c), the control unit 11 may determine this velocity vector as the first velocity vector. In this way, if the second data includes information other than the recognized position and time of the unspecified person, determining the first velocity vector using this information makes it possible to more accurately determine the velocity vector of the unspecified person.

[0062] Note that the control unit 11 may determine the first velocity vector for samples representative of second data continuously acquired for the same person recognized by the same recognition device 30, rather than determining the first velocity vector for each sample of second data acquired at a constant sampling rate. For example, the control unit 11 may determine the first velocity vector for each sample of second data continuously acquired for the same person at a constant time interval (e.g., 10 seconds).

[0063] FIG. 12 is a diagram illustrating an example of a velocity vector determined based on the second data. In the example of FIG. 12, a velocity vector is determined for each sample of the second data illustrated in FIG. 11. The velocity vector may be represented by the amount and direction of movement in the X and Y directions per unit time. The direction of movement may be indicated by positive or negative. Below, an example will be described in which the velocity vector is represented by a two-dimensional vector, with the unit time being one minute. For example, the velocity vector of an unspecified person recognized at position (60,60) at time 14:50:00 is (60,0). This velocity vector indicates a movement of 60 meters in the positive X direction, i.e., to the right in FIG. 6, over one minute. For example, the velocity vector of an unspecified person recognized at position (120,140) at time 14:50:40 is (0,-70). This velocity vector indicates a movement of 70 meters in the negative Y direction, i.e., upward in FIG. 6, over one minute.

[0064] Step S12: The control unit 11 determines an estimated position of the first unspecified person 80 at a time earlier than the first time, based on the first time, the first position, and the first velocity vector determined in step S11.

[0065] Specifically, the control unit 11 may determine an estimated position for each time within a certain time period (e.g., one minute) from the first time, which is prior to the first time, among the times included in the sample for determining the first vector of the second data. For example, in step S11, assume that the time 14:52:00, the position (120, 120), and the velocity vector (0, 60) are determined as the first time, the first position, and the first velocity vector (see FIG. 12). In this case, the first unspecified person 80 is estimated to move by 60 in the positive Y direction (downward in FIG. 6) over one minute. Therefore, the control unit 11 determines the estimated position at the time 14:51:30 to be (120, 90) and the estimated position at the time 14:51:00 to be (120, 60). In this manner, the control unit 11 determines an estimated position for each past time within the certain time period from the first time.

[0066] Step S13: The control unit 11 refers to the second data and analyzes the results of recognition by a certain recognition device (second recognition device, for example, recognition device 30b), thereby determining the time (second time) at which an unspecified person (second unspecified person) was recognized by the second recognition device 30b, and the position (second position) of the second unspecified person at the second time.

[0067] Specifically, control unit 11 may determine, as the second time, each of the times included in the samples of the second data that is the same as the time determined as a past time in step S12, and determine the position of the unspecified person at that time as the second location. For example, when control unit 11 determines that the time 14:51:30 determined as a past time in step S12 is the second time, control unit 11 determines the position (50, 60) at that time as the second location (see FIG. 12). Furthermore, when control unit 11 determines that the time 14:51:00 is the second time, control unit 11 determines the position (120, 60) at that time as the second location.

[0068] Step S14: The control unit 11 determines whether the first unspecified person 80 and the second unspecified person are the same based on a comparison between the past time and estimated position of the first unspecified person 80 determined in step S12 and the second time and second position of the second unspecified person determined in step S13.

[0069] Specifically, the control unit 11 may determine that the first unspecified person 80 is the same as the second unspecified person if the distance between the estimated position and a second position corresponding to the same second time as the past time determined in step S12 is within a predetermined threshold. For example, it is assumed that the threshold for determining the identity of unspecified persons is 3 m. It is assumed that in step S12, the control unit 11 determines an estimated position (120, 90) of the first unspecified person 80 at the past time 14:51:30 based on the first position (120, 120) and the first velocity vector (0, 60) at the first time 14:52:00. For example, it is assumed that in step S13, the control unit 11 determines a second position (50, 60) (velocity vector (-90, 0)) of the second unspecified person at the second time 14:51:30. In this case, the distance between the second position (50, 60) corresponding to the same second time as the past time and the estimated position (120, 90) ((120-50) 2 +(90-60) 2 ) 1 / 2 = 76.16 m exceeds the threshold value of 3 m. Therefore, the control unit 11 determines that the first unspecified person 80 and the second unspecified person are not the same. Meanwhile, in step S12, it is assumed that the control unit 11 determines an estimated position (120, 60) at the past time 14:51:00 for the first unspecified person 80. For example, it is assumed that in step S13, the control unit 11 determines a second position (120, 60) (velocity vector (60, 0)) at the second time 14:51:00 for the second unspecified person. In this case, the distance between the second position (120, 60) corresponding to the second time, which is the same as the past time, and the estimated position (120, 60) is 0 (< threshold value). 3m). Therefore, the control unit 11 determines that the first unspecified person 80 and the second unspecified person are the same. In this way, for each past time determined in step S12, the control unit 11 may compare the estimated position with the second position at the same second time as the past time, and determine whether the first unspecified person 80 and the second unspecified person are the same.

[0070] Step S15: If the control unit 11 determines in step S14 that the first unspecified person 80 and the second unspecified person are the same (YES in step S15), it proceeds to step S16; otherwise (NO in step S15), it terminates the movement history processing.

[0071] Specifically, if it is determined in step S14 that the first unspecified person 80 and the second unspecified person are the same for at least one of a plurality of past times, the control unit 11 may proceed to step S16.

[0072] Step S16: The control unit 11 adds, to the movement history of the first unspecified person 80, the second time and the second location of the second unspecified person who is determined to be the same as the first unspecified person 80.

[0073] Specifically, for example, it is determined that the first unspecified person 80 who was at the position (120,120) at the time 14:52:00 is the same as the second unspecified person who was at the position (120,60) at the time 14:51:00. Therefore, the control unit 11 adds the second time 14:51:00 and the second position (120,60) to the movement history of the first unspecified person 80.

[0074] The control unit 11 may acquire a movement history of the unspecified person 80 by repeatedly executing the processes of steps S11 to S16 for each sample of the second data acquired in step S1 at a time after the time at which the identification device 20 identified the person, starting from a reference time and using the time of the sample as the first time of step S11. The reference time may be, for example, the time at which a request to start processing is received from a user, or the time at which the unspecified person 80 whose identification is to be performed is recognized by a certain recognition device (e.g., recognition device 30c). By the movement history creation process described above, it is possible to create a movement history of the unspecified person 80 by associating the samples included in the second data with the same unspecified person 80.

[0075] Note that, when the second data includes information such as identification information of the recognition device 30 and an object ID, the control unit 11 may use this information to create a movement history of the unspecified person 80. For example, the control unit 11 may extract a series of samples of the second data acquired consecutively for the same person recognized by the same recognition device 30 as the movement history of that person.

[0076] Fig. 13 is a diagram showing an example of a movement history extracted from the result of recognition by the recognition device 30 according to the above-described procedure. In the example of Fig. 13, an unspecified person 80 is at position (60,60) at time 14:50:00, passes position (120,60) at time 14:51:00, and then arrives at position (120,120) at time 14:52:00. After creating the movement history, the control unit 11 ends the movement history acquisition process and proceeds to step S4 in Fig. 7.

[0077] Step S4: The control unit 11 determines whether the specified person and the first unspecified person 80 are the same person based on the time and specified location 25 at which the identification device 20 identified the specified person and the movement history of the first unspecified person 80 acquired in step S3.

[0078] Specifically, the control unit 11 executes the identity determination process (steps S21 to S23) shown in FIG.

[0079] Step S21: The control unit 11 acquires a first time and a first location included in the movement history of the first unspecified person 80 for which person identification is to be performed.

[0080] Specifically, the control unit 11 acquires at least one pair of time and location included in the movement history of the unspecified person 80 acquired in step S3. For example, the control unit 11 acquires one or more pairs of time and location included in the movement history exemplified in FIG.

[0081] Step S22: Based on the result of identification by the identification device 20, the control unit 11 acquires the time (identification time) at which the identified person was identified and the predetermined position 25.

[0082] Specifically, for example, the control unit 11 acquires at least one pair of time and position for identifying a person as illustrated in FIG.

[0083] Step S23: The control unit 11 compares the first time and first position acquired in step S21 with the specific time and predetermined position 25 acquired in step S22, and determines whether the first unspecified person 80 is the same as the specified person.

[0084] Specifically, the control unit 11 determines whether or not there is a match between at least one pair of a time and a position included in the movement history acquired in step S21 and at least one pair of a specific time and a predetermined position 25 acquired in step S22. Here, the control unit 11 may determine that the time and position included in the movement history and the specific time and predetermined position 25 match, even if they are not completely identical, as long as the difference between them is within a predetermined threshold (for example, 5 seconds for the time, or 5 meters for the position). If there is a match between them, the control unit 11 determines that the first unspecified person 80 and the specific person associated with the specific time and predetermined position 25 that matches the movement history are the same. If there is no match between them, the control unit 11 determines that the first unspecified person 80 and the specific person are not the same.

[0085] 10 and 13, the time 14:50:00 and the position (60,60) included in the movement history of FIG. 13 are the same as the specific time 14:50:00 and the predetermined position 25 (60,60) in FIG. 10, so the two match. Therefore, the control unit 11 determines that the unspecified person 80 having the movement history of FIG. 13 is the same as the specified person "user A" in FIG. 10. After completing the process of step S23, the control unit 11 ends the identity determination process and proceeds to step S5 in FIG. 7.

[0086] Step S5: If the control unit 11 determines that the first unspecified person 80 and the specified person are the same as a result of the identity determination process in step S4 (YES in step S5), it proceeds to step S6; otherwise (NO in step S5), it proceeds to step S7.

[0087] Step S6: The control unit 11 stores the movement history of the first unspecified person 80 acquired in step S3 in the storage device in association with the specified person determined to be the same person in step S4.

[0088] For example, in the example described above, the control unit 11 associates the movement history in Fig. 13 with "user A" and stores it in a storage device such as the storage unit 12. Then, the control unit 11 ends the processing of the flowchart.

[0089] Step S7: The control unit 11 stores the movement history of the first unspecified person 80 in association with the photographed image of the first unspecified person 80 in the storage device.

[0090] Specifically, the control unit 11 acquires a captured image in which the first unspecified person 80 is reflected. For example, the control unit 11 may acquire an image captured by the imaging device 40 that captured an image at a time and position included in the movement history of the first unspecified person 80. Alternatively, the control unit 11 may acquire a specific captured image designated by the user as the captured image in which the first unspecified person 80 is reflected. The control unit 11 associates the captured image thus acquired with the movement history of the first unspecified person 80 and stores them in a storage device such as the memory unit 12. Then, the control unit 11 ends the processing of the flowchart.

[0091] As described above, the information processing system 1 according to this embodiment includes an identification device 20 that identifies a person present at a predetermined location 25 as a specific person, at least one recognition device 30 that recognizes a person present at a geographical range 35 corresponding to the identification device 20 as an unspecified person, and an information processing device 10. The information processing device 10 acquires a movement history indicating changes in the location of a first unspecified person 80 over time by analyzing the recognition results of the at least one recognition device 30. The information processing device 10 determines whether the specific person and the first unspecified person 80 are the same person based on the time when the identification device 20 identified the specific person, the predetermined location 25, and the movement history of the first unspecified person 80. If it is determined that the specific person and the first unspecified person 80 are the same person, the information processing device 10 associates the movement history of the first unspecified person 80 with the specific person and stores the movement history of the first unspecified person 80 in a storage device such as the memory unit 12.

[0092] According to this configuration, a specific person and a movement history of the unspecified person 80 based on the identification result of the identification device 20 and the movement history of the unspecified person 80 based on the recognition result of at least one recognition device 30 are associated with each other, so it is possible to identify the unspecified person 80 recognized by the recognition device 30. Furthermore, by using at least one recognition device 30, movement history over a wide geographical area can be obtained. Since a small number of expensive identification devices 20 are required, costs can be reduced. Furthermore, because an individual cannot be identified solely based on the recognition result obtained using the recognition device 30, the privacy of the unspecified person 80 recognized by the recognition device 30 can be protected even if the recognition result is leaked. Furthermore, the recognition device 30 may be realized in any configuration as long as it can acquire at least the location and time information of the unspecified person 80, and therefore can be realized using an inexpensive device such as radar.

[0093] In the information processing system 1, the one or more recognition devices 30 may include a first recognition device (for example, the recognition device 30c). The information processing device 10 may analyze a result of recognition by the first recognition device 30c to determine a first position and a first velocity vector of the first unspecified person 80 at a first time when the first recognition device 30c recognized the first unspecified person 80. The information processing device 10 may determine an estimated position of the first unspecified person 80 at a time earlier than the first time, based on the first time, the first position, and the first velocity vector.

[0094] According to this configuration, the movement history of the unspecified person 80 can be obtained with high accuracy by obtaining an estimated position of the unspecified person 80 at a past time based on the time, position, and velocity vector of the unspecified person 80.

[0095] In the information processing system 1, the one or more recognition devices 30 may further include a second recognition device (for example, recognition device 30b). The information processing device 10 may then analyze the recognition result by the second recognition device 30b to determine a second time when the second unspecified person was recognized by the second recognition device 30b and a second position of the second unspecified person at the second time. The information processing device 10 may determine whether the first unspecified person 80 and the second unspecified person are the same person based on a comparison between the past time and estimated position and the second time and second position.

[0096] According to this configuration, the movement history can be obtained with high accuracy by comparing the past time and estimated location of the first unspecified person 80 recognized by the first recognition device 30c with the second time and second location of the second unspecified person recognized by the second recognition device 30b to determine the identity of the first unspecified person 80 and the second unspecified person.

[0097] In the information processing system 1, the information processing device 10 may determine whether the specified person and the first unspecified person 80 are the same based on a comparison of the time and predetermined location 25 at which the identification device 20 identified the specified person with a past time and estimated location.

[0098] According to this configuration, the time and predetermined location 25 at which the identification device 20 identified the specified person are compared with the past time and estimated location of the first unspecified person 80, and the identity of the specified person and the first unspecified person 80 is determined, thereby making it possible to identify the first unspecified person 80 with high accuracy.

[0099] In the information processing system 1, when it is determined that the specified person and the first unspecified person 80 are not the same person, the information processing device 10 may acquire a photographed image of the first unspecified person 80 photographed by the photographing device 40, and store the photographed image in a storage device in association with the movement history of the first unspecified person 80.

[0100] According to this configuration, for an unspecified person 80 who cannot be associated with a specified person, by associating the movement history with the captured image, if a suspicious person appears as an unspecified person 80, it is possible to track the behavior of the suspicious person by associating it with their appearance.

[0101] In the information processing system 1, at least one recognition device 30 may include a millimeter wave radar or an infrared sensor.

[0102] Generally, a millimeter-wave radar or an infrared sensor can be configured at a lower cost than the identification device 20 that identifies a person. Therefore, by realizing at least one recognition device 30 using a millimeter-wave radar or an infrared sensor, the information processing system 1 can be configured at a lower cost.

[0103] In the information processing system 1, the at least one recognition device 30 may include two or more recognition devices 30 that are arranged such that at least a portion of the corresponding geographic ranges 35 overlap each other.

[0104] 6, for example, the geographic range 35a of the recognition device 30a and the geographic range 35b of the recognition device 30b partially overlap. In this way, when the geographic ranges 35 corresponding to the recognition devices 30 overlap at least partially, if an unspecified person 80 moves through the overlapping range and moves through multiple geographic ranges 35, two or more recognition devices 30 can seamlessly track and recognize the movement of the unspecified person 80. Therefore, with this configuration, it is possible to track with high accuracy the movement history of an unspecified person 80 who moves across geographic ranges 35 corresponding to multiple recognition devices 30.

[0105] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined or divided into one.

[0106] For example, in the above-described embodiment, the configuration and operation of the information processing device 10 may be distributed among multiple computers that can communicate with each other. Also, for example, an embodiment in which some or all of the components of the identification device 20 or the recognition device 30 are provided in the information processing device 10 may be provided. For example, the information processing device 10 may include components for acquiring person identification information provided in the identification device 20.

[0107] Furthermore, when an unspecified person 80 is selected by the user and a request is made, the information processing device 10 may acquire the movement history of the unspecified person 80, identify the corresponding specified person, and store the movement history in the storage device in association with the specified person. With such a configuration, the movement history of the unspecified person 80 selected by the user can be automatically acquired and associated with the specified person.

[0108] Furthermore, the information processing device 10 may present to the user the correspondence between the movement history of the unspecified person 80 and the specific person. For example, the information processing device 10 may display on the display an image showing the correspondence between the movement history of the unspecified person 80 and the identification information of the specific person on a map. With this configuration, the user can easily understand the correspondence between the movement history of the unspecified person 80 and the specific person.

[0109] Furthermore, the information processing device 10 may store a movement history once created for a certain time range in the storage unit 12 or the like, and reuse the stored movement history when creating a movement history for a time range adjacent to this time range. With such a configuration, once a movement history is created, it is not necessary to repeat the process of creating the same movement history, and processing can proceed efficiently.

[0110] 6 shows a case where person identification by the identification device 20 precedes recognition of unspecified person 80 by the recognition devices 30b and 30c, but person identification by the identification device 20 does not have to precede recognition of unspecified person 80 by the recognition device 30. For example, person identification by the identification device 20 may be performed after recognition of unspecified person 80 by the recognition device 30.

[0111] Also, for example, an embodiment is possible in which a general-purpose computer functions as the information processing device 10 according to the above-described embodiment. Specifically, a program describing the processing content for realizing each function of the information processing device 10 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor, or a non-transitory computer-readable medium storing the program. [Explanation of symbols]

[0112] 1. Information Processing Systems 10. Information processing equipment 11 Control section 12 Storage section 13 Communications Department 20 Specific equipment 21 Control section 22 Identification information acquisition unit 23 Memory section 24 Communications Department 30 recognition device 31 Control Unit 32 Radar section 33 Storage section 34 Communications Department 35 Geographical Coverage 40 Imaging equipment 41 Control Unit 42 Photography Department 43 Storage section 44 Communications Department 50 1st storage device 60 2nd storage device 70 Network

Claims

1. an identification device that identifies a person present at a predetermined location as a specific person; At least one recognition device that recognizes a person present in a geographical area corresponding to the device as an unspecified person; an information processing device; An information processing system comprising: The information processing device includes: acquiring a movement history indicating a change in the position of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time and the predetermined location at which the identification device identified the specified person and the movement history of the first unspecified person; If it is determined that the specified person and the first unspecified person are the same person, the movement history of the first unspecified person is stored in a storage device in association with the specified person; the at least one recognition device includes a first recognition device; The information processing device includes: determining a first position and a first velocity vector of the first unspecified person at a first time when the first unspecified person is recognized by the first recognition device by analyzing a result of the recognition by the first recognition device; determining an estimated position of the first unspecified person at a time earlier than the first time based on the first time, the first position, and the first velocity vector; Information processing system.

2. 2. The information processing system according to claim 1, the at least one recognition device further includes a second recognition device; The information processing device includes: determining a second time when a second unspecified person was recognized by the second recognition device and a second position of the second unspecified person at the second time by analyzing a result of the recognition by the second recognition device; an information processing system that determines whether the first unspecified person and the second unspecified person are the same person based on a comparison of the past time and the estimated location with the second time and the second location.

3. 3. The information processing system according to claim 1, The information processing device determines whether the specified person and the first unspecified person are the same based on a comparison of the time and the specified location at which the identification device identified the specified person with the past time and the estimated location.

4. 4. The information processing system according to claim 1, When it is determined that the specified person and the first unspecified person are not the same person, the information processing device acquires an image of the first unspecified person taken by an imaging device, associates the movement history of the first unspecified person with the image, and stores the associated image in the storage device.

5. 5. The information processing system according to claim 1, wherein the at least one recognition device includes a millimeter wave radar or an infrared sensor.

6. 6. The information processing system according to claim 1, An information processing system, wherein the at least one recognition device includes two or more recognition devices arranged such that corresponding geographic ranges at least partially overlap each other.

7. an identification device that identifies a person present at a predetermined location as a specific person; At least one recognition device that recognizes a person present in a geographical area corresponding to the device as an unspecified person; an information processing device that communicates with the identifying device and the at least one recognition device; An information processing method for an information processing system comprising: The information processing device, acquiring a movement history indicating a change in the location of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time and the predetermined location at which the identification device identified the specified person and the movement history of the first unspecified person; a step of storing the movement history of the first unspecified person in a storage device in association with the specified person when it is determined that the specified person and the first unspecified person are the same person; Including, the at least one recognition device includes a first recognition device; The information processing device includes: determining a first position and a first velocity vector of the first unspecified person at a first time when the first unspecified person is recognized by the first recognition device by analyzing a result of the recognition by the first recognition device; determining an estimated position of the first unspecified person at a time earlier than the first time based on the first time, the first position, and the first velocity vector; Information processing method for an information processing system.

8. Computer, An information processing device that communicates with at least one recognition device including a first recognition device that identifies a person present at a predetermined location as a specific person and a first recognition device that recognizes a person present in a geographical range corresponding to the information processing device as an unspecified person, acquiring a movement history indicating a change in the position of the first unspecified person over time by analyzing a result of the recognition by the at least one recognition device; determining whether the specified person and the first unspecified person are the same person based on the time and the predetermined location at which the identification device identified the specified person and the movement history of the first unspecified person; If it is determined that the specified person and the first unspecified person are the same person, the movement history of the first unspecified person is stored in a storage device in association with the specified person; determining a first position and a first velocity vector of the first unspecified person at a first time when the first unspecified person is recognized by the first recognition device by analyzing a result of the recognition by the first recognition device; determining an estimated position of the first unspecified person at a time earlier than the first time based on the first time, the first position, and the first velocity vector; A program that functions as an information processing device.

Images