Image navigation device

• US 20030151664A1
• Filed: 12/24/2002
• Published: 08/14/2003
• Est. Priority Date: 04/26/2001
• Status: Active Grant

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Tanaka, Shoji, Masuoka, Hiroaki, Wakimoto, Koji
• Granted Patent: US 7,405,746 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

Abstract

An estimate image generating unit (26) generates an estimate image corresponding to estimate values of a position and an angle of a camera (10) stored in a position and angle information storing unit (25), and stores the estimate image into an estimate image storing unit (27). A collating unit (28) collates an estimate image with a scenery image, and corrects estimate values of a position and angles of the camera (10) according to a result of the collation. An indication image generating unit (29) generates an indication image by processing indication information stored in an indication information storing unit (23), based on position information that shows a position of the camera (10) and angle information that shows angles of the camera (10) after the correction processing stored in a position and angle information storing unit (25).

Claims

1. A video navigation apparatus comprising:

a photographing unit that photographs a scene;

an estimating unit that estimates a position and angles of the photographing unit;

an estimate image generating unit that generates an estimate image corresponding to estimate values of a position and angles of the photographing unit estimated by the estimating unit;

a collating unit that collates an estimate image generated by the estimate image generating unit with a scenery image photographed by the photographing unit, and corrects an estimate value estimated by the estimating unit according to a result of the collation;

an indication image generating unit that generates an indication image by processing indication information indicated in advance based on position information that shows a position of the photographing unit and angle information that shows angles of the photographing unit after correction processing by the collating unit; and

a display unit that displays an indication image generated by the indication image generating unit.

2. The video navigation apparatus according to claim 1,

wherein the indication image generating unit processes the indication information based on the position information and the angle information, and generates an indication image by combining a result of the processing with any one of a scenery image photographed by the photographing unit and an estimate image generated by the estimate image generating unit.

3. The video navigation apparatus according to claim 1,

wherein the estimating unit estimates a current position and angles of the photographing unit based on the record of information on positions and angles of the photographing unit up to the present.

4. The video navigation apparatus according to claim 1,

wherein the estimate image generating unit generates an estimate image corresponding to estimate values of a position and angles of the photographing unit based on space information set in advance.

5. The video navigation apparatus according to claim 1,

wherein the estimate image generating unit generates an actual photograph image corresponding to estimate values of a position and angles of the photographing unit as an estimate image.

6. The video navigation apparatus according to claim 1,

wherein the estimating unit sets the next target position of a user as estimate values based on the indication information.

7. The video navigation apparatus according to claim 1, further comprising:

a control unit that controls the photographing unit to maintain a predetermined angle that is determined based on the indication information.

8. The video navigation apparatus according to claim 1,

wherein the collating unit notifies a user of information that shows a level of coincidence between the scenery image and the estimate image or a change in the coincidence level.

9. The video navigation apparatus according to claim 1, further comprising:

a first storing unit that stores a series of information that show positions and angles of the photographing unit; and

a second storing unit that stores a series of the scenery images,

wherein when the series of information that show positions and angles of the photographing unit stored in the first storing unit do not satisfy a predetermined condition, the collating unit collates an estimate image with a scenery image again by tracing back the series based on the contents stored in the first and second storing units.

10. The video navigation apparatus according to claim 1,

wherein the indication image generating unit selects indication information based on a distance between the photographing unit and a position corresponding to the indication information and angles of a corner formed by a direction of a straight line that connects between the photographing unit and a position corresponding to the indication information and a view direction of the photographing unit, or a positional relationship between the photographing unit and a position corresponding to the indication information and a structure on the space, and processes an indication image by processing the selected indication information.

11. A video navigation apparatus comprising:

a photographing unit that photographs a scene;

an estimating unit that estimates a position and angles of the photographing unit;

an indication information generating unit that generates indication information based on work procedure information that shows a work procedure set in advance and progress state information that shows a progress state of a work implemented based on the work procedure;

an indication image generating unit that generates an indication image by processing indication information generated by the indication information generating unit based on position information that shows a position of the photographing unit and angle information that shows angles of the photographing unit estimated by the estimating unit; and

a display unit that displays an indication image generated by the indication image generating unit.

12. The video navigation apparatus according to claim 11, further comprising:

a progress state storing unit that decides a progress state of the work based on the work procedure information and estimate values of the position information or the angle information estimated by the estimating unit, and stores a result of the decision.

13. The video navigation apparatus according to claim 11, further comprising:

a progress state storing unit that is mounted on a working vehicle, and that decides a progress state of the work based on the work procedure information and a current state of the vehicle, and stores a result of the decision.