Positioning system
First Claim
1. A scenery image database, comprising:
- a hard disk having a plurality of scenery image data corresponding to a plurality of acquired scenery images stored thereon, wherein each of the plurality of the scenery image data includes an extracted portion of a corresponding one of the plurality of acquired scenery images,wherein the extracted portion includes one or more feature amounts of one or more extracted feature points corresponding to one or more things that are identified to remain in a stationary state during a predetermined period, and the extracted portion does not include non-extracted feature points corresponding to one or more things that are identified to not remain in the stationary state during a period larger than or equal to the predetermined period.
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Abstract
An object of the present invention is to provide a positioning system which makes it possible to perform positioning processing in a positioning target mobile object with a smaller calculation amount.
A scenery image database according to an aspect of the present invention is characterized by comprising a plurality of scenery image data and image acquisition locations at which the scenery image data have been acquired are correlated with each other and stored, wherein each of the plurality of scenery image data include a feature amount of a feature point corresponding to a thing other than a thing of which a location or a shape is unlikely to be kept as it is on the real world during a period larger than or equal to a predetermined period.
11 Citations
20 Claims
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1. A scenery image database, comprising:
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a hard disk having a plurality of scenery image data corresponding to a plurality of acquired scenery images stored thereon, wherein each of the plurality of the scenery image data includes an extracted portion of a corresponding one of the plurality of acquired scenery images, wherein the extracted portion includes one or more feature amounts of one or more extracted feature points corresponding to one or more things that are identified to remain in a stationary state during a predetermined period, and the extracted portion does not include non-extracted feature points corresponding to one or more things that are identified to not remain in the stationary state during a period larger than or equal to the predetermined period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 11, 12)
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8. A database building method, comprising:
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acquiring, with an imaging unit, a scenery image; extracting, from the scenery image, with a feature point extraction unit, an extracted portion comprising feature amounts of feature points corresponding to one or more things in the scenery image that are identified to remain in a stationary state during a predetermined period, and not feature amounts of feature points corresponding to one or more things in the scenery image that are identified to not remain in the stationary state during a period larger than or equal to the predetermined period; and storing the extracted portion in a scenery image database. - View Dependent Claims (9, 13, 14, 15, 16, 17)
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10. A non-transitory tangible machine-readable media encoding instructions which, when executed by a processor, cause the processor to perform acts comprising:
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acquiring a scenery image; extracting, from the scenery image, an extracted portion comprising feature amounts of feature points corresponding to one or more things in the scenery image that are identified to remain in a stationary state during a predetermined period, and not feature amounts of feature points corresponding to one or more things in the scenery image that are identified to not remain in the stationary state during a period larger than or equal to the predetermined period; and storing the extracted portion in a scenery image database. - View Dependent Claims (18, 19, 20)
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Specification