US 12,444,142 B2
Positioning system to position a terminal carried by a user in a vehicle
Kouki Hayashi, Chiyoda-ku (JP); Taishi Yamamoto, Chiyoda-ku (JP); Shinji Kimura, Chiyoda-ku (JP); Mikio Iwamura, Chiyoda-ku (JP); Osamu Goto, Chiyoda-ku (JP); and Eriko Oseki, Chiyoda-ku (JP)
Assigned to NTT DOCOMO, INC., Chiyoda-ku (JP)
Appl. No. 17/906,307
Filed by NTT DOCOMO, INC., Chiyoda-ku (JP)
PCT Filed Mar. 3, 2021, PCT No. PCT/JP2021/008265
§ 371(c)(1), (2) Date Sep. 14, 2022,
PCT Pub. No. WO2021/192873, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-057634 (JP), filed on Mar. 27, 2020.
Prior Publication US 2023/0351703 A1, Nov. 2, 2023
Int. Cl. G06T 19/00 (2011.01); G01C 21/30 (2006.01); G06T 7/11 (2017.01)
CPC G06T 19/006 (2013.01) [G01C 21/30 (2013.01); G06T 7/11 (2017.01); G06T 2207/30252 (2013.01); G06T 2207/30268 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A positioning system related to positioning of a terminal carried by a user in a vehicle, the positioning system comprising processing circuitry configured to:
store global map data in which a feature quantity of a feature point included in image data outside a vehicle captured in advance is associated with global position information related to the feature point, and local map data in which a feature quantity of a feature point included in image data inside the vehicle captured in advance is associated with local position information related to the feature point;
divide image data captured in the terminal into an image area outside the vehicle and an image area inside the vehicle;
perform matching of the feature point of the global map data stored in the first storage unit with the feature point of the image area outside the vehicle, and estimate global position information related to the image area outside the vehicle on the basis of the global position information related to the feature point of the global map data;
perform matching of the feature point of the local map data stored in the first storage unit with the feature point of the image area inside the vehicle, and estimate local position information related to the image area inside the vehicle on the basis of the local position information related to the feature point of the local map data,
store global AR content data in which the global position information outside the vehicle is associated with AR content, and local AR content data in which local position information inside the vehicle is associated with the AR content;
store global space structure data indicating a shape of an object in a space outside the vehicle and local space structure data indicating a shape of an object in a space inside the vehicle;
specify a first AR content according to the global position information on the basis of the global position information and the global AR content data, determine a display position of the first AR content based on the global position information and the global space structure data, and output the first AR content; and
specify a second AR content according to the local position information on the basis of the local position information and the local AR content data, determine a display position of the second AR content based on the local position information and the local space structure data, and output the second AR content.