PEDESTRIAN DEVICE, MOBILE DEVICE, POSITIONING SYSTEM, AND POSITIONING METHOD

To improve efficiency in collation processing in visual positioning to shorten a processing time in the visual positioning.SOLUTION: A pedestrian terminal 1 includes: a camera 12 for photographing surroundings of a pedestrian; a state sensor 13 for detecting a state of the pedestrian; a memory 17 for storing a peripheral environment database DB related to a peripheral environment of the pedestrian; and a processor 18 for performing processing related to visual positioning in which an image captured by the camera is collated with the peripheral environment database DB to estimate a current position of the pedestrian. The processor comprises: measuring a gazing direction of the pedestrian on the basis of detection results of the state sensor; extracting, from the peripheral environment DB, this gazing direction as an optimum collation direction having high possibility that collation is successful and a candidate image corresponding to the gazing direction as a collation object; collating the image captured by the camera with the candidate image; and obtaining positional information associated with the candidate image, where the collation is successful, as current positional information of the pedestrian.SELECTED DRAWING: Figure 4 【課題】ビジュアル測位の処理時間を短縮するために、ビジュアル測位における照合処理の効率化を図る。【解決手段】歩行者端末１が、歩行者の周囲を撮影するカメラ１２と、歩行者の状態を検出する状態センサ１３と、歩行者の周辺環境に関する周辺環境ＤＢを記憶するメモリ１７と、カメラの撮影画像と周辺環境ＤＢとを照合して歩行者の現在位置を推定するビジュアル測位に関する処理を行うプロセッサ１８とを備え、プロセッサは、状態センサの検出結果に基づいて歩行者の注視方向を測定し、この注視方向を、照合が成功する可能性が高い最適照合方向として、その注視方向に対応する候補画像を照合対象として周辺環境ＤＢから抽出し、カメラの撮影画像と候補画像とを照合し、照合が成功した候補画像に対応付けられた位置情報を、歩行者の現在の位置情報として取得する。【選択図】図４