Video control device, video control method, and recording medium
A video control device includes a processor and a memory including a program that, when executed, causes the processor to perform operations including: obtaining a position of a vehicle determined by a satellite positioning system; obtaining an estimated position of the vehicle estimated based on dead reckoning; estimating a deviation in an orientation of the vehicle, based on the position of the vehicle determined by the satellite positioning system and the estimated position of the vehicle estimated based on the dead reckoning; calculating an estimated orientation of the vehicle, based on the deviation in the orientation of the vehicle estimated; and outputting the estimated orientation of the vehicle to a video display device that displays information which is based on the orientation of the vehicle.
1. A video control device, comprising:
a processor; and
a memory including a program that, when executed, causes the processor to perform operations, the operations including:
obtaining positions of a vehicle determined by a satellite positioning system;
obtaining an estimated position of the vehicle estimated based on dead reckoning;
estimating a deviation in an orientation of the vehicle, based on the positions of the vehicle determined by the satellite positioning system and the estimated position of the vehicle estimated based on the dead reckoning;
calculating an estimated orientation of the vehicle, based on the deviation in the orientation of the vehicle estimated; and
outputting the estimated orientation of the vehicle to a video display device that displays information which is based on the estimated orientation of the vehicle,
wherein the deviation in the orientation of the vehicle is estimated based on:
a first position of the vehicle determined by the satellite positioning system;
a second position of the vehicle determined by the satellite positioning system when the vehicle moves from the first position; and
the estimated position of the vehicle, which is obtained when the second position is determined and is estimated based on the dead reckoning, using (i) the first position, (ii) an orientation of the vehicle at the first position, (iii) a detection result of a gyro sensor provided in the vehicle, and (iv) speed information of the vehicle.
2. The video control device according to claim 1 , wherein
an angle formed by a first straight line connecting the first position and the second position and a second straight line connecting the first position and the estimated position is estimated as the deviation in the orientation of the vehicle.
3. The video control device according to claim 1 , wherein
the deviation in the orientation of the vehicle is estimated, for each of consecutive intervals, based on the first position, the second position, and the estimated position in each of the consecutive intervals, and
the estimated orientation of the vehicle is calculated based on deviations in orientations of the vehicle in two or more intervals among the consecutive intervals.
4. The video control device according to claim 3 , wherein
the estimated orientation of the vehicle is calculated based on an average of the deviations in the orientations of the vehicle in the consecutive intervals other than an interval in which an orientation of the vehicle calculated based on the detection result of the gyro sensor has changed by a first threshold value or more with respect to the orientation of the vehicle calculated based on the detection result of the gyro sensor in an adjacent preceding interval, among the consecutive intervals.
5. The video control device according to claim 3 , wherein
the estimated orientation of the vehicle is calculated based on an average of the deviations in the orientations of the vehicle in consecutive intervals other than an interval in which a deviation in an orientation of the vehicle is a second threshold value or more, among the consecutive intervals.
6. The video control device according to claim 3 , wherein
the estimated orientation of the vehicle is calculated based on a median of the deviations in the orientations of the vehicle in the consecutive intervals.
7. The video control device according to claim 3 , wherein
the estimated orientation of the vehicle is calculated based on a weighted average of the deviations in the orientations of the vehicle in the consecutive intervals.
8. The video control device according to claim 1 , wherein
a future estimated orientation of the vehicle is outputted to the video display device, the future estimated orientation being predicted based on a past amount of change in the estimated orientation of the vehicle.
9. A video control method, comprising:
obtaining positions of a vehicle determined by a satellite positioning system;
obtaining an estimated position of the vehicle estimated based on dead reckoning;
estimating a deviation in an orientation of the vehicle, based on the positions of the vehicle determined by the satellite positioning system and the estimated position of the vehicle estimated based on the dead reckoning;
calculating an estimated orientation of the vehicle, based on the deviation in the orientation of the vehicle estimated; and
outputting the estimated orientation of the vehicle to a video display device that displays information which is based on the estimated orientation of the vehicle,
wherein the deviation in the orientation of the vehicle is estimated based on:
a first position of the vehicle determined by the satellite positioning system;
a second position of the vehicle determined by the satellite positioning system when the vehicle moves from the first position; and
the estimated position of the vehicle, which is obtained when the second position is determined and is estimated based on the dead reckoning, using (i) the first position, (ii) an orientation of the vehicle at the first position, (iii) a detection result of a gyro sensor provided in the vehicle, and (iv) speed information of the vehicle.
10. A non-transitory computer-readable recording medium including a program recorded thereon for causing a computer to execute a video control method, the video control method comprising:
obtaining positions of a vehicle determined by a satellite positioning system;
obtaining an estimated position of the vehicle estimated based on dead reckoning;
estimating a deviation in an orientation of the vehicle, based on the positions of the vehicle determined by the satellite positioning system and the estimated position of the vehicle estimated based on the dead reckoning;
calculating an estimated orientation of the vehicle, based on the deviation in the orientation of the vehicle estimated; and
outputting the estimated orientation of the vehicle to a video display device that displays information which is based on the estimated orientation of the vehicle,
wherein the deviation in the orientation of the vehicle is estimated based on:
a first position of the vehicle determined by the satellite positioning system;
a second position of the vehicle determined by the satellite positioning system when the vehicle moves from the first position; and
the estimated position of the vehicle, which is obtained when the second position is determined and is estimated based on the dead reckoning, using (i) the first position, (ii) an orientation of the vehicle at the first position, (iii) a detection result of a gyro sensor provided in the vehicle, and (iv) speed information of the vehicle.