Moving body positioning device
A moving body positioning device includes a sensor group that outputs a motion velocity vector of a moving body, a motion velocity vector estimation processing device that measures a motion velocity vector and outputs an output sequence of the motion velocity vector together with a measured time, a monitoring camera, an image analysis processing device that analyzes the image of the monitoring camera to measure a position of feet of the moving body measures a motion velocity vector at the position of the feet, and outputs an output sequence of the motion velocity vector with a measured time, and a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device and outputs its collation result as a TRUE or a FALSE signal.
1. A moving body positioning device, comprising:
an internal observation device provided to a moving body, to measure and output a motion of the moving body;
an internal observation data processing device that estimates a motion of the moving body based on the output from the internal observation device;
an external observation device that observes motion of a plurality of moving bodies;
an external observation data processing device that estimates a motion of the moving body from an observation result by the external observation device; and
a collation processing device that collates a first output from the internal observation data processing device with a second output of the external observation data processing device, and outputs its collation result as a TRUE signal when the first output matches the second output or a FALSE signal when the first output does not match the second output,
the internal observation device includes a self-contained sensor group that outputs an acceleration vector of the moving body, the acceleration vector being obtained with use of an acceleration sensor provided in the moving body,
the internal observation data processing device is a self-contained sensor base motion identification processing device that identifies a movement kind of the moving body in accordance with an output of the self-contained sensor group, and outputs an identification result indicating the movement kind together with a measured time,
the external observation device includes a monitoring camera for externally image capturing the moving bodies,
the external observation data processing device is an image analysis processing device that analyzes an image of the monitoring camera to identify the movement kind of the moving body in the image and outputs its identification result together with a measured time, and
the collation processing device is a movement kind collation processing device that collates the output of the self-contained sensor base motion identification processing device with the output of the image analysis processing device, and outputs its collation result as a TRUE signal or a FALSE signal.
2. A moving body positioning device comprising:
an internal observation device provided to a moving body, to measure and output a motion of the moving body;
an internal observation data processing device that estimates a motion of the moving body on the output from the internal observation device;
an external observation device that observes motion of a plurality of moving bodies;
an external observation data processing device that estimates a motion of the moving body from an observation result by the external observation device; and
a collation processing device that collates a first output from the internal observation data processing device with a second output of the external observation data processing device, and outputs its collation result as TRUE signal when the first output matches the second output or a FALSE signal when the first output does not match the second output,
the internal observation device includes a self-contained sensor group that outputs an acceleration vector of the moving body with use of an acceleration sensor provided in the moving body,
the internal observation data processing device is a motion velocity vector estimation processing device that measures a motion velocity vector based on an output of the self-contained sensor group, and outputs an output sequence of the motion velocity vector together with a measured time,
the external observation device includes a monitoring camera for externally image capturing the moving bodies,
the external observation data processing device analyzes an image of the monitoring camera to measure a position of feet of the moving body in the image to measure a motion velocity vector of that position of the feet, and outputs an output sequence of the motion velocity vector together with a measured time, and
the collation processing device is a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device, and outputs its collation result as a TRUE signal or a FALSE signal,
when the collation processing device collates the output sequence from the internal observation data processing device with the output sequence from the external observation data processing device, the collation processing device determines a weighting factor in accordance with a size of an area of a unit pixel of the image of the monitoring camera projected on a floor surface at the position of the feet of the moving body estimated from the image of the monitoring camera, to carry out the collation process.
3. The moving body positioning device recited in claim 2 , wherein
in the collation process, the weighting factor is made smaller as the area of the unit pixel is projected larger, and the weighting factor is made larger as the area of the unit pixel is projected smaller.
4. A moving body positioning device comprising:
an internal observation device provided to a moving body, to measure and output a motion of the moving body;
an internal observation data processing device that estimates a motion of the moving body based on the output from the internal observation device;
an external observation device that observes motion of a plurality of moving bodies;
an external observation data processing device that estimates a motion of the moving body from an observation result by the external observation device; and
a collation processing device that collates a first output from the internal observation data processing device with a second output of the external observation data processing device, and outputs its collation result as a TRUE signal when the first output matches the second output or a FALSE signal when the first output does not match the second output,
the internal observation device includes a self-contained sensor group that outputs an acceleration vector of the moving body with use of an acceleration sensor provided in the moving body,
the internal observation data processing device is a motion velocity vector estimation processing device that measures a motion velocity vector based on an output of the self-contained sensor group, and outputs an output sequence of the motion velocity vector together with a measured time,
the external observation device includes a monitoring camera for externally image capturing the moving bodies,
the external observation data processing device analyzes an image of the monitoring camera to measure a position of feet of the moving body in the image to measure a motion velocity vector of that position of the feet, and outputs an output sequence of the motion velocity vector together with a measured time, and
the collation processing device is a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device, and outputs its collation result as a TRUE signal or a FALSE signal,
the moving body positioning device further comprising
a position correction signal output device,
when the collation processing device outputs the TRUE signal, the position correction signal output device outputting a signal that corrects a positional coordinate of the moving body to a position of the moving body wearing the self-contained sensor group, the positional coordinate being outputted from the external observation data processing device.