Positioning system, positioning method, and program
A position where a user is located can be estimated easily and quickly. When a hold detection unit 122 detects that the user holds a mobile terminal 100 by hand to use the mobile terminal 100 that is held by at least one hand of the user when used by the user and has a camera 130 on the surface facing the ceiling when used by the user, the estimation unit 240 estimates a position where a ceiling is located as the position where the user is located by using an image of the ceiling captured by the camera 130.
1. A computer-implemented method for determining a user position, the method comprising:
receiving an image of a ceiling, wherein the image of the ceiling is captured by a camera when a mobile computing device detecting the user holding the mobile computing device facing toward a surface facing the ceiling by hand to use the mobile computing device, and
determining one or more feature values of the image of the ceiling;
for each of a plurality of sub-regions that divides a predefined space, storing a feature value of a part of the image of the ceiling corresponding to a sub-region and a position of the sub-region in the space;
determining, based on the received image of the ceiling and the stored feature value of the part of the image of the ceiling corresponding to the sub-region, the position of the ceiling; and
determining, based on the determined position of the ceiling, the user position.
2. The computer-implemented method of claim 1 , the method further comprising:
updating, based on a combination of a plurality of images of the ceiling received in time series and a sub-region of the plurality of sub-regions associated with the determined user position, the one or more feature values of the image of the ceiling, wherein a degree of similarity between at least one of the plurality of images of the ceiling and the sub-region is less than a predetermined threshold degree of similarity.
3. The computer-implemented method of claim 1 , wherein the plurality of sub-regions includes at least in part overlapping adjacent sub-regions.
4. The computer-implemented method of claim 1 , the method further comprising:
correcting the user position based at least on a combination of:
an angle between a direction of capturing the image of the ceiling and the ceiling, and
a height of the ceiling.
5. The computer-implemented method of claim 1 , the method further comprising:
receiving an image of a floor;
determining, based on the received image of the ceiling and the received image of the floor, a position of the ceiling of the floor as the user position.
6. The computer-implemented method of claim 1 , the method further comprising:
receiving an image of a floor;
determining, based on the received image of the ceiling and the received image of the floor, a position of the ceiling of the floor as the user position.
7. A system for determining a user position, the system comprises:
a processor; and
a memory storing computer-executable instructions that when executed by the processor cause the system to:
receive an image of a ceiling, wherein the image of the ceiling is captured by a camera when a mobile computing device detecting the user holding the mobile computing device facing toward a surface facing the ceiling by hand to use the mobile computing device, and
Determine one or more feature values of the image of the ceiling;
for each of a plurality of sub-regions that divides a predefined space, store a feature value of a part of the image of the ceiling corresponding to a sub-region and a position of the sub-region in the space;
determine, based on the received image of the ceiling and the stored feature value of the part of the image of the ceiling corresponding to the sub-region, the position of the ceiling; and
determine, based on the determined position of the ceiling, the user position.
8. The system of claim 7 , the computer-executable instructions when executed further causing the system to:
update, based on a combination of a plurality of images of the ceiling received in time series and a sub-region of the plurality of sub-regions associated with the determined user position, the one or more feature values of the image of the ceiling, wherein a degree of similarity between at least one of the plurality of images of the ceiling and the sub-region is less than a predetermined threshold degree of similarity.
9. The system of claim 7 , wherein the plurality of sub-regions includes at least in part overlapping adjacent sub-regions.
10. The system of claim 7 , the computer-executable instructions when executed further causing the system to:
correct the user position based at least on a combination of:
an angle between a direction of capturing the image of the ceiling and the ceiling, and
a height of the ceiling.
11. The system of claim 7 , the computer-executable instructions when executed further causing the system to:
receive an image of a floor;
determine, based on the received image of the ceiling and the received image of the floor, a position of the ceiling of the floor as the user position.
12. The system of claim 7 , the computer-executable instructions when executed further causing the system to:
receive an image of a floor;
determine, based on the received image of the ceiling and the received image of the floor, a position of the ceiling of the floor as the user position.
13. A computer-readable non-transitory recording medium storing computer-executable instructions that when executed by a processor cause a computer system to:
receive an image of a ceiling, wherein the image of the ceiling is captured by a camera when a mobile computing device detecting the user holding the mobile computing device facing toward a surface facing the ceiling by hand to use the mobile computing device, and
determine one or more feature values of the image of the ceiling;
for each of a plurality of sub-regions that divides a predefined space, store a feature value of a part of the image of the ceiling corresponding to a sub-region and a position of the sub-region in the space;
determine, based on the received image of the ceiling and the stored feature value of the part of the image of the ceiling corresponding to the sub-region, the position of the ceiling; and
determine, based on the determined position of the ceiling, the user position.
14. The computer-readable non-transitory recording medium of claim 13 , the computer-executable instructions when executed further causing the system to:
update, based on a combination of a plurality of images of the ceiling received in time series and a sub-region of the plurality of sub-regions associated with the determined user position, the one or more feature values of the image of the ceiling, wherein a degree of similarity between at least one of the plurality of images of the ceiling and the sub-region is less than a predetermined threshold degree of similarity.
15. The computer-readable non-transitory recording medium of claim 13 , wherein the plurality of sub-regions includes at least in part overlapping adjacent sub-regions.
16. The computer-readable non-transitory recording medium of claim 13 , the computer-executable instructions when executed further causing the system to:
correct the user position based at least on a combination of:
an angle between a direction of capturing the image of the ceiling and the ceiling, and
a height of the ceiling.
17. The computer-readable non-transitory recording medium of claim 13 , the computer-executable instructions when executed further causing the system to:
receive an image of a floor;
determine, based on the received image of the ceiling and the received image of the floor, a position of the ceiling of the floor as the user position.