Information processing device, program, and positioning method

Abstract

The present invention accurately identifies the position of a moving object 3, such as an automobile.　An information processing device 10 comprises: a reference position acquisition unit 103 which acquires reference position information 200 indicating the position of an image capturing device 2; and a position inference unit 106 which, on the basis of first position information 210 indicating the current position of the image capturing device 2 as calculated on the basis of a satellite positioning signal and second position information 310 indicating the current position of the moving object 3 moving in the surroundings of the image capturing device 2 on the basis of a satellite positioning signal temporally synchronised with the positioning signal for the first position information 210, acquires relative position information 230 indicating a positional relationship between the image capturing device 2 and the moving object 3, and outputs inferred position information 320 indicating the current position of the moving object 3 on the basis of the relative position information 230 and the reference position information 200.

Description

[Technical Field]

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

[0002] Conventionally, there is a method of obtaining position information of a mobile object by receiving global navigation satellite system signals (hereinafter referred to as GNSS (Global Navigation Satellite System) signals) from positioning satellites. Since the position accuracy of standalone positioning using GNSS signals is on the order of meters, one method of improving position accuracy is the Real Time Kinematic-GNSS (RTK-GNSS) positioning method. The position information obtained by the mobile object from the GNSS signals is corrected using terrestrial reference points that have been positioned with high position accuracy. The position accuracy of the RTK-GNSS positioning method is on the order of centimeters. For example, Patent Document 1 describes this type of technology. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6821768 Summary of the Invention [Problem to be solved by the invention]

[0004] RTK-enabled GNSS receivers require complex processing in real time, which requires a large amount of computing power, and as a result, the receivers can be large, heavy, and expensive.

[0005] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to accurately identify the position of a moving body such as an automobile. [Means for solving the problem]

[0006] In order to achieve the above object, an information processing device according to one aspect of the present invention includes a reference position acquisition unit that acquires reference position information indicating the position of an imaging device, and a position estimation unit that acquires relative position information indicating the positional relationship between the imaging device and the mobile body based on first position information indicating the current position of the imaging device calculated based on a satellite positioning signal and second position information indicating the current position of a mobile body moving around the imaging device based on a satellite positioning signal that is time-synchronized with the positioning signal of the first position information, and outputs mobile body position information indicating the current position of the mobile body based on the relative position information and the reference position information. [Effects of the Invention]

[0007] According to the present invention, the position of a moving object such as an automobile can be accurately identified. For example, in a situation where an imaging device such as a surveillance camera is installed, the position of the moving object such as an automobile can be accurately identified by using the reference position information of the imaging device. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing an imaging device, a mobile object, a server, and a positioning satellite according to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing a hardware configuration of an information processing apparatus according to an embodiment of the present invention; [Figure 3] 1 is a block diagram showing the functional configuration of an imaging device, a server, and a mobile object according to an embodiment of the present invention. [Figure 4] 1 is a schematic plan view showing the relationship between an imaging device according to an embodiment of the present invention and a moving object; [Figure 5] 10 is a diagram showing an example of an image in which position information is superimposed on an image captured by an imaging device according to an embodiment of the present invention. FIG. [Figure 6] FIG. 10 is a diagram showing a process flow for identifying position information and associating it with image information according to an embodiment of the present invention. [Figure 7] FIG. 1 is a block diagram showing the functional configuration of an imaging device, a server, and a mobile object according to an embodiment of the present invention, and in particular shows an example in which information processing functions other than an information recording unit are incorporated into the imaging device. [Figure 8] FIG. 1 is a block diagram showing the functional configuration of an imaging device, a server, and a mobile object according to an embodiment of the present invention, and in particular shows an example in which an image information management unit is arranged in the imaging device. [Figure 9] FIG. 1 is a block diagram showing the functional configuration of an imaging device, a server, and a mobile object according to an embodiment of the present invention, and in particular shows an example in which an information processing function is mainly incorporated in the mobile object. [Figure 10] FIG. 1 is a block diagram showing the functional configuration of an imaging device, a server, and a mobile body according to an embodiment of the present invention, and in particular shows an example in which information processing functions are separately incorporated into the imaging device, the server, and the mobile body. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] As shown in FIG. 1, an information processing device 10 of this embodiment exchanges electronic information between an imaging device 2 and a mobile object 3 or the like moving around the imaging device 2. The information processing device 10 has a communication device 19 for the information processing device, the imaging device 2 has a communication device 29 for the imaging device, and the mobile object 3 has a communication device 39 for the mobile object, as appropriate. The exchange of electronic information is mainly carried out via a communication line 121. In this example, the communication line 121 is wireless communication. However, the communication line 121 is not limited to wireless communication. For example, the communication line 121 may also use wired communication.

[0011] Hereinafter, reference position information 200, first position information 210, and second position information 310 are acquired as the position information. The reference position information 200 is position information that accurately measures the position of the imaging device 2. The first position information 210 is position information of the current position measured by GNSS and represents the position of the imaging device 2. The first position information alone has lower position accuracy than the reference position information 200. The second position information 310 is position information of the current position measured by GNSS and represents the position of the mobile object 3. The second position information alone has lower position accuracy than the reference position information 200. The first position information 210 and the second position information 310 are acquired based on positioning signals from satellites that are time-synchronized. Here, time synchronization does not necessarily mean that the times are completely the same. It refers to a time that associates the acquisition time of the first position information with the acquisition time of the second position information. More specifically, an example would be when the difference in acquisition time is within a time difference that can cancel out the GNSS radio wave reception situation at the time the first location information is acquired and the GNSS radio wave reception situation at the time the second location information is acquired.

[0012] The reference position information 200 of the imaging device 2 is obtained when the reference position antenna 20 receives a positioning signal from a reference position satellite 41. A reference position satellite positioning signal receiving unit 401 (not shown) receives the electrical signal from the reference position antenna 20, and a reference position positioning calculation unit 402 (not shown in Fig. 1) calculates and derives the reference position information 200. The first position information 210 of the imaging device 2 is obtained when the first position antenna 21 provided in the imaging device 2 receives a positioning signal from a first position satellite 42. A first position satellite positioning signal receiving unit 403 (not shown in Fig. 1) receives the electrical signal from the first position antenna 21, and a first position positioning calculation unit 404 (not shown) calculates and derives the first position information.

[0013] The mobile object 3 has a second position antenna 31. The second position antenna 31 receives a positioning signal from a second position satellite 43. A second position satellite positioning signal receiving unit 405 (not shown) receives the electrical signal from the second position antenna 31, and a second position positioning calculation unit 406 (not shown) calculates and derives second position information 310.

[0014] Four satellites are required to calculate the position coordinates of the first position satellites 42 and the second position satellites 43. This is because the position coordinates and time are variables. In FIG. 1, an example is shown in which five satellites are used as the first position satellites 42 and five satellites are used as the second position satellites 43, and four of the satellites are common.

[0015] The information processing device 10 identifies the position of the moving object 3 based on the reference position information 200, the first position information 210, and the second position information 310, as will be described in detail later.

[0016] As shown in FIG. 2, the information processing device 10 includes a processor 13, a read only memory (ROM) 14, a random access memory (RAM) 15, an input / output unit 11, a communication unit 12, and an input / output interface 17.

[0017] The processor 13 performs various calculations and processes. The processor 13 is, for example, a central processing unit (CPU), a micro processing unit (MPU), a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field-programmable gate array (FPGA). Alternatively, the processor 13 may be a combination of two or more of these. Furthermore, the processor 13 may be a combination of these with a hardware accelerator or the like.

[0018] The processor 13, ROM 14, and RAM 15 are connected to one another via a bus 16. The processor 13 executes various processes according to a program recorded in the ROM 14 or a program loaded into the RAM 15. A part or all of the program may be incorporated into the circuitry of the processor 13.

[0019] The bus 16 is also connected to an input / output interface 17. The input / output interface 17 is connected to the input / output unit 11 and the communication unit 12.

[0020] The input / output unit 11 is electrically connected to the input / output interface 17 via a wired or wireless connection. The input / output unit 11 is composed of an input unit such as a keyboard and a mouse, and an output unit such as a display for displaying images and a speaker for amplifying audio. The input / output unit 11 may be configured such that the display function and the input function are integrated, such as a touch panel.

[0021] The communication unit 12 is a device that allows the processor 13 to communicate with other devices (for example, the imaging device 2 and the mobile object 3) via a communication line 121.

[0022] The hardware configuration shown here is merely an example, and is not limited to this configuration. In addition to configurations consisting of various processing units such as single processors, multiprocessors, and multicore processors, combinations of these processing units with processing circuits such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field-Programmable Gate Arrays) may also be used to realize the functional configuration of a processor.

[0023] 3 shows the functional configuration of the information processing device 10 of this embodiment, and the imaging device 2, mobile object 3, and other devices with which the information processing device 10 exchanges signals. The functional configuration of the information processing device 10 is realized by a processor 13. The functional configuration of the imaging device 2 is realized by a processor of an information processing device such as an electronic component or computer mounted on the imaging device 2. Similarly, the functional configuration of the mobile object 3 is realized by an information processing device such as an electronic component or computer mounted on the mobile object 3.

[0024] In this case, the information processing device 10 is separate from the imaging device 2 and the mobile object 3, and all of the functional components are included in the server 1. As will be described in detail later, the information processing device 10 can also be configured such that part of it is incorporated into the imaging device 2 and the mobile object 3. These functional elements will be described with reference to Figures 1 and 2 as appropriate.

[0025] The reference position satellite positioning signal receiving unit 401 receives satellite signals to determine the reference position of the imaging device 2. The reference position positioning calculation unit 402 receives signals from the reference position satellite positioning signal receiving unit 401 and calculates the reference position of the imaging device 2. Here, a satellite that provides an accurate position, such as a quasi-zenith satellite, is selected as the reference position satellite 41, and the accurate position is provided as the reference position. The reference position antenna 20 that receives radio waves from this reference position satellite 41 is generally relatively large, and it is preferable that the reference position antenna 20 be detached after the position has been measured. It is preferable that a measurement device including the reference position antenna 20, the reference position acquisition unit 103, etc. be detachably connected to the imaging device 2. As a result, after the reference position has been determined, the reference position antenna 20 and the reference position acquisition unit 103 can be detached from the imaging device 2.

[0026] In specifying the reference position of the imaging device 2, in addition to the example of using a quasi-zenith satellite, the installation position of the imaging device 2 may be plotted on a map, and the position coordinates may be specified from the map.

[0027] The position of the imaging device 2 is derived by a positioning system similar to the positioning system that the mobile body 3 may be equipped with, in addition to positioning based on the above-mentioned reference position satellite 41. In this specification, the current position of the imaging device 2 is referred to as the first position. This system similar to the positioning system that the mobile body 3 may be equipped with has a first position antenna 21, a first position satellite positioning signal receiving unit 403, and a first position positioning calculation unit 404. The first position satellite positioning signal receiving unit 403 receives the positioning signal via the first position antenna 21, and the first position positioning calculation unit 404 calculates the first position of the imaging device 2. It is preferable that the first position satellite positioning signal receiving unit 403 and the first position positioning calculation unit 404 are provided in the imaging device 2.

[0028] The reference position of the imaging device 2 may be determined by long-term positioning or static positioning using the first position antenna 21, the first position satellite positioning signal receiving unit 403, and the first position positioning calculation unit 404.

[0029] The imaging device 2 has an imaging unit 201, and captures an image of a moving object 3 moving in a parking lot, for example.

[0030] The information processing device 10 includes an image information management unit 101, an information recording unit 102, a reference position acquisition unit 103, a first position information acquisition unit 104, a relative position information acquisition unit 105, a position estimation unit 106, and a second position information acquisition unit 107.

[0031] For convenience of explanation, the functional configuration of the mobile object 3 will be described first. The mobile object 3 is, for example, an automobile moving through a parking lot. The current position of the mobile object 3 is referred to as the second position in this specification. As shown in FIG. 1, the mobile object 3 has a second position antenna 31, and further has a second position satellite positioning signal receiving unit 405, a second position positioning calculation unit 406, and an estimated position acquisition unit 301 as shown in FIG.

[0032] The second position satellite positioning signal receiving unit 405 receives the positioning signal from the second position antenna 31, and the second position positioning calculation unit 406 calculates the second position. The estimated position acquisition unit 301 acquires the estimated position, which will be described later, from the position estimation unit 106 of the information processing device 10.

[0033] The functions of each functional component of the information processing device 10 will be described with reference to FIG. 3. To provide an explanation following the flow of signals, the positions of the functional components in FIG. 3 to be described will vary left and right, up and down. The reference position acquisition unit 103 acquires the reference position calculated by the reference position positioning calculation unit 402. The first position information acquisition unit 104 acquires the first position information 210 calculated and derived by the first position positioning calculation unit 404. The second position information acquisition unit 107 acquires the second position information 310 derived by the second position positioning calculation unit 406 of the mobile object 3. The relative position information acquisition unit 105 derives the relative position between the first position of the imaging device 2 and the second position of the mobile object 3 based on the information from the first position information acquisition unit 104 and the second position information acquisition unit 107.

[0034] Here, in deriving the relative position, it is preferable that the first position satellite positioning signal receiver 403 and the second position satellite positioning signal receiver 405 use the same satellite for measurements. The relative positional relationship between the two points is determined by measuring the time difference between the arrival of radio signals from the satellites at each receiver. Because radio waves from the same satellite are received at each observation point and the radio waves emitted from the satellites pass through similar weather conditions, taking the difference between the observation values ​​at the two points eliminates satellite position errors and delays in the troposphere and ionosphere contained in the observation values. This allows for accurate determination of the relative position.

[0035] Alternatively, first position information 210 and second position information 310 are derived based on positioning signals from satellites. Then, the difference between these positions or a distance indicating the difference is acquired as relative position information 230. By adding this relative position information 230 to reference position information 200, the position of the moving object 3 is estimated.

[0036] The position estimation unit 106 obtains the reference position from the reference position acquisition unit 103 and obtains the relative position from the relative position information acquisition unit 105. Then, the accurate position of the moving object 3 is derived by adding the relative position to the reference position. The position of the moving object 3 derived by the position estimation unit 106 is sent to the estimated position acquisition unit 301 and the image information management unit 101.

[0037] The image information management unit 101 receives the reference position from the reference position acquisition unit 103, the video from the imaging unit 201 of the imaging device 2, and the estimated position of the moving object 3 from the position estimation unit 106. Then, reference position information 200 is assigned to the captured image 240 captured by the imaging device 2, or moving object position information is assigned to an image including the moving object 3. This information is then recorded in the information recording unit 102.

[0038] Fig. 4 is a plan view of a mobile object 3 moving through a parking lot and the imaging device 2. Fig. 5 is an example of an image 240 captured by the imaging device 2. In Fig. 5, the latitude, longitude, and altitude of the reference position of the imaging device 2 are added to the screen.

[0039] FIG. 6 shows a processing flow based on the functional configuration. When the processing starts, the information processing device 10 acquires reference position information 200 (step S401). Next, the imaging device 2 acquires image information (step S402). Furthermore, the imaging device 2 acquires first position information 210 of the imaging device 2 (step S403). Meanwhile, the moving object 3 acquires second position information 310, which is position information of the moving object 3 (step S404). Next, relative position information 230 between the imaging device 2 and the moving object 3 is derived (step S405). Then, based on the reference position information 200 and the relative position information 230, the position of the moving object 3 is estimated or estimated position information 320 of the moving object 3 is derived (step S406). Next, the estimated position information 320 of the moving object 3 and / or the reference position information 200 is associated with the image information (step S407), and the information is recorded (step S408). In parallel, the estimated position information 320 is transmitted to the moving object 3 (step S409). If the moving object 3 is to be continuously tracked, the process returns to step S402. If the moving object 3 is not to be tracked, the process ends (END).

[0040] 6, the reference position information 200 is acquired before the first position information 210 of the image capture device 2. This is not limiting, and the order can be reversed. Furthermore, the reference position information 200 can be acquired after the relative position information 230 between the image capture device 2 and the moving object 3 is acquired.

[0041] In the explanation so far, the information processing device 10 has been independently incorporated into the server 1. However, this is not limiting, and the information processing device 10 can be entirely incorporated into the imaging device 2 or the mobile body 3. For example, if the information processing device 10 is entirely incorporated into the imaging device 2, there is an advantage that, in terms of hardware, the imaging device 2 and the mobile body 3 only need to be connected via a communication line 121, such as WiFi. If the information processing device 10 is entirely incorporated into the mobile body 3, the mobile body 3 has a closed calculation function, and therefore it is possible to prevent a situation in which the communication line 121 with the information processing device 10 is poorly connected due to bad weather or the like, making it impossible to identify the position of the mobile body 3.

[0042] A configuration in which only a part or all of the information processing device 10 is incorporated into the imaging device 2 and / or the moving body 3 is also effective. Figures 7 to 10 show such examples. As with the information processing device 10 shown in Figure 3, the frames of the blocks representing the functional configuration of the information processing device 10 are drawn with thick borders.

[0043] 7 shows an example in which, of the functional components constituting the information processing device 10, only the information recording unit 102 is incorporated into the server 1, and the other components are incorporated into the imaging device 2. Compared to when the entire information processing device 10 is incorporated into the imaging device 2, the information recording unit 102 is provided in the server 1, which has the advantage that images such as those shown in FIG. 5 in which location information is incorporated into the image can be viewed simply by operating the server 1. As shown in FIG. 1, the imaging device 2 includes an imaging device communication device 29 that acquires second location information 310 from the outside via the communication line 121, and in combination with the information processing function, a video system is configured.

[0044] FIG. 8 shows an example in which the image information management unit 101, one of the functional components constituting the information processing device 10, is incorporated into the imaging device 2. The imaging device 2 is a device that handles video and typically has a central processing unit (hereinafter referred to as an image engine) specialized for video processing. For example, a video file and an information file containing data such as position information and posture information are saved as separate files, and whether or not to overlay information based on the information file on the video is selected at the time of playback. If overlaying information on the video is selected, it is preferable to have this image engine take charge of managing the image information, i.e., adding text containing position information to the video, overlaying the video, etc. This has the advantage that the image engine does not need to be provided on the server 1.

[0045] FIG. 9 shows an example in which the image information management unit 101 and the information recording unit 102 are incorporated into the server 1, and the other functional components of the information processing device 10 are incorporated into the mobile object 3. The mobile object 3 includes the information processing device 10 and acquires first position information 210 from an external imaging device 2 via a communication line 121. For example, a video file and an information file containing data such as position information and posture information are stored as separate files, and whether or not to overlay information on the video is selected at the time of playback. If overlaying information on the video is selected, an image engine is required to combine the images and write text on the images, which may require a high-performance central processing unit (CPU), and heat generation may become a problem. Compared to when all of the functional components of the information processing device 10 are installed in the mobile object 3, removing the image engine from the mobile object 3 has the advantage of simplifying the structure and reducing the weight of the mobile object 3.

[0046] FIG. 10 shows an example in which the position estimation unit 106 is mounted on a moving object 3. The moving object 3 calculates its own accurate position by itself. Since the relative position information acquisition unit 105 is located on an external server 1, the weight of the aircraft can be reduced. Another advantage is that it is possible to apply an operation in which the position obtained by the second position measurement calculation unit 406 is used to roughly determine the own position, and the position estimation unit 106 derives the accurate position as needed.

[0047] The above-described series of processes can be executed by hardware or software. When the series of processes are executed by software, the program constituting the software is installed on a computer or the like from a network or a recording medium. Recording media containing such programs can be removable media distributed separately from the device itself to provide the program to the borrower, or recording media provided to the borrower in a pre-installed state within the device itself. Removable media can be, for example, magnetic disks (including floppy disks), optical disks, or magneto-optical disks. Optical disks can be, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), and Blu-ray (registered trademark) Discs. Magneto-optical disks can be, for example, MDs (Mini-Disks). Recording media provided to the borrower in a pre-installed state within the device itself can be, for example, program memory and a hard disk on which the program is recorded.

[0048] The information processing device 10, the loan support program, and the loan support method according to the above-described embodiment provide the following effects.

[0049] The information processing device 10 includes a reference position acquisition unit 103 that acquires reference position information 200 indicating the position of the imaging device 2, a position estimation unit 106 that acquires relative position information 230 indicating the positional relationship between the imaging device 2 and the moving body 3 based on first position information 210 indicating the current position of the imaging device 2 calculated based on a satellite positioning signal, and second position information 310 indicating the current position of a moving body 3 moving around the imaging device 2 based on a satellite positioning signal whose time is synchronized with the positioning signal of the first position information 210, and outputs estimated position information 320 indicating the current position of the moving body 3 based on the relative position information 230 and the reference position information 200.

[0050] The position of a moving object 3 such as an automobile can be accurately identified.

[0051] In the information processing device 10, the position estimation unit 106 acquires the distance indicating the difference between the current position of the imaging device 2 and the current position of the moving body 3 as relative position information 230 based on the first position information 210 and the second position information 310, and estimates the current position of the moving body 3 by adding the relative position information 230 to the reference position information 200.

[0052] By taking the difference between position information having similar errors, the errors are eliminated, and as a result, the position of the moving object 3 can be identified more accurately.

[0053] The information processing device 10 includes an image information management unit 101 that assigns reference position information 200 to a captured image 240 captured by an imaging device 2.

[0054] In a situation where an imaging device 2 such as a surveillance camera is installed, the position of a moving object 3 such as an automobile can be accurately identified by using the reference position information 200 of the imaging device 2.

[0055] The information processing device 10 includes an image information management unit 101 that assigns moving object position information to an image including a moving object 3 captured by an imaging device 2.

[0056] Since the moving object 3 and its position can be confirmed simultaneously in the image, the position of the moving object 3 can be identified without delay.

[0057] In the information processing device 10, the reference position acquisition unit 103 acquires, as reference position information 200, information measured by a measuring device detachably connected to the imaging device 2.

[0058] A large antenna is often used in the measurement device that provides the reference position information 200. By making the antenna detachable and removing it after one measurement, it is possible to realize space saving for the image capture device 2.

[0059] In the information processing device 10, the first position information 210 and the second position information 310 are calculated based on the positioning signals acquired from the same combination of satellites.

[0060] If the influence of the external environment on the acquired positioning signal is the same, the same influence occurs in the first position information 210 and the second position information 310, and taking the difference between them cancels this influence. As a result, the accuracy of the difference itself improves, and it becomes possible to derive the accurate position of the moving object 3.

[0061] The imaging system includes the information processing device 10 described above, a communication device that acquires the second position information from outside via communication, and an imaging device 2.

[0062] Since the image pickup device 2 has the information processing device 10 built-in and can obtain the necessary signals, it is possible to derive the position of the moving body 3 in a closed system consisting of only the image pickup device 2.

[0063] The mobile object 3 includes an information processing device 10 and a communication device that acquires first location information 210 from the outside via communication.

[0064] Since the mobile object 3 is enclosed and has a calculation function, it is possible to prevent a situation in which the position of the mobile object 3 cannot be identified due to poor connection of the communication line 121 with the information processing device 10 due to bad weather or the like.

[0065] The program includes a reference position acquisition function that acquires reference position information 200 indicating the position of the imaging device 2, a first position information acquisition function that acquires first position information 210 indicating the current position of the imaging device 2 calculated based on a satellite positioning signal, a second position information acquisition function that acquires second position information 310 indicating the current position of a moving body 3 moving around the imaging device 2 based on a satellite positioning signal whose time is synchronized with the positioning signal of the first position information 210, and a position estimation function that acquires relative position information 230 indicating the positional relationship between the imaging device 2 and the moving body 3 based on the first position information 210 and the second position information 310, and outputs estimated position information 320 indicating the current position of the moving body 3 based on the relative position information 230 and the reference position information 200.

[0066] The position of a moving object 3 such as an automobile can be accurately identified.

[0067] The positioning method includes a reference position acquisition step of acquiring reference position information 200 indicating the position of the imaging device 2; a first position information acquisition step of acquiring first position information 210 indicating the current position of the imaging device 2 calculated based on a satellite positioning signal; a second position information acquisition step of acquiring second position information 310 indicating the current position of a moving body 3 moving around the imaging device 2 based on a satellite positioning signal whose time is synchronized with the positioning signal of the first position information 210; and a position estimation step of acquiring relative position information 230 indicating the positional relationship between the imaging device 2 and the moving body 3 based on the first position information 210 and the second position information 310, and outputting estimated position information 320 indicating the current position of the moving body 3 based on the relative position information 230 and the reference position information 200.

[0068] The position of a moving object 3 such as an automobile can be accurately identified.

[0069] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be modified as appropriate. For example, some of the functional configurations of the above-described embodiments can be omitted or other functional configurations can be combined. [Explanation of symbols]

[0070] 1 Server, 2 Imaging device, 3 Mobile object, 10 Information processing device, 11 Input / output unit, 12 Communication unit, 13 Processor, 14 ROM, 15 RAM, 16 Bus, 17 Input / output interface, 18 Control unit, 20 Reference position antenna, 21 First position antenna, 31 Second position antenna, 41 Reference position satellite, 42 First position satellite, 43 Second position satellite, 101 Image information management unit, 103 Reference position acquisition unit, 106 Position estimation unit, 121 Communication line

Claims

1. a reference position acquisition unit that acquires reference position information indicating the position of a reference point; a position estimation unit that calculates a difference between first position information indicating the current position of the reference point calculated based on a satellite positioning signal and second position information indicating the current position of a mobile object moving around the reference point based on a satellite positioning signal that is time-synchronized with the positioning signal of the first position information, thereby obtaining relative position information indicating the positional relationship between the reference point and the mobile object, the relative position information being more accurate than the position accuracy based on the satellite positioning signal, and outputs mobile object position information indicating the current position of the mobile object based on the relative position information and the reference position information; an image information management unit that assigns the reference position information to a captured image output from an imaging device installed at the reference point, and further assigns the moving object position information when the captured image includes the moving object; An information processing device comprising:

2. The position accuracy of the reference position information is higher than that of the first position information and the second position information. The information processing device according to claim 1 .

3. the reference position acquisition unit acquires, as the reference position information, information measured by a measuring device detachably connected to the imaging device provided at the reference point; 3. The information processing device according to claim 1.

4. The first position information and the second position information are calculated based on positioning signals acquired from the same combination of satellites. The information processing device according to claim 1 .

5. An information processing device according to any one of claims 1 to 4; a communication device that acquires the second location information from an external device via communication; the imaging device; An imaging system comprising:

6. An information processing device according to any one of claims 1 to 4; a communication device that acquires the first location information from an external device via communication; A mobile body comprising:

7. On the computer, a reference position acquisition function for acquiring reference position information indicating the position of a reference point; a position estimation function that calculates a difference between first position information indicating the current position of the reference point calculated based on a satellite positioning signal and second position information indicating the current position of a mobile object moving around the reference point based on a satellite positioning signal that is time-synchronized with the positioning signal of the first position information, thereby obtaining relative position information indicating the positional relationship between the reference point and the mobile object, the relative position information being more accurate than the position accuracy based on the satellite positioning signal, and outputs mobile object position information indicating the current position of the mobile object based on the relative position information and the reference position information; an image information management function that assigns the reference position information to a captured image output from an imaging device installed at the reference point, and further assigns the moving object position information when the captured image includes the moving object; A program to achieve this.

8. A positioning method executed by an information processing device, a reference position acquisition step of acquiring reference position information indicating the position of a reference point; a position estimation step of calculating a difference between first position information indicating the current position of the reference point calculated based on a satellite positioning signal and second position information indicating the current position of a mobile object moving around the reference point based on a satellite positioning signal that is time-synchronized with the positioning signal of the first position information, thereby obtaining relative position information indicating the positional relationship between the reference point and the mobile object, the relative position information being more accurate than the position accuracy based on the satellite positioning signal, and outputting mobile object position information indicating the current position of the mobile object based on the relative position information and the reference position information; an image information management step of assigning the reference position information to a captured image output from an imaging device installed at the reference point, and further assigning the moving object position information to the captured image if the moving object is included in the captured image; A positioning method including:

Images