Title:
BODY ORIENTATION ESTIMATION DEVICE AND BODY ORIENTATION ESTIMATION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/188865
Kind Code:
A1
Abstract:
[Problem] Provided are a body orientation estimation device and body orientation estimation program that make it possible to detect the orientation of a given person even in an environment with various changes in the positional relationship between a sensor and the person. [Solution] From distance measurement data MP acquired by a distance measurement sensor 16 through distance measurement, a moving body 1 calculates approximation ellipses C and quadratic functions Qxy and Qyx along an xy-axis and yx-axis. An approximation ellipsis C close to the shoulder width W1 and thickness W2 of a user H is selected, and quadratic functions Qxy, Qyx having the smallest approximation error from the distance measurement data MP are selected. Additionally, the position and orientation of the user H are estimated from the selected approximation curves. That is, if an approximation curve based on one shape or coordinate system does not match the user H, the position and orientation of the user H are estimated from an approximation curve based on another shape or coordinate system. Therefore, even if there are various changes in the positional relationship between the distance measurement sensor 16 and user H, the position and orientation of the user H can be detected.
Inventors:
WATANABE YUTAKA (JP)
OKADA MASAKI (JP)
KUNO KAZUHIRO (JP)
TAKAHASHI MASAKI (JP)
YOROZU AYANORI (JP)
OKADA MASAKI (JP)
KUNO KAZUHIRO (JP)
TAKAHASHI MASAKI (JP)
YOROZU AYANORI (JP)
Application Number:
PCT/JP2019/012299
Publication Date:
October 03, 2019
Filing Date:
March 25, 2019
Export Citation:
Assignee:
EQUOS RES CO LTD (JP)
UNIV KEIO (JP)
UNIV KEIO (JP)
International Classes:
G01B11/26; G01B11/24; G06T7/521; G06T7/70
Domestic Patent References:
| WO2013011644A1 | 2013-01-24 | |||
| WO2018180503A1 | 2018-10-04 |
Foreign References:
| JP2011081634A | 2011-04-21 | |||
| JP2010169521A | 2010-08-05 | |||
| JP2009116871A | 2009-05-28 | |||
| JPH09322050A | 1997-12-12 | |||
| JP2008257575A | 2008-10-23 | |||
| JP2016175509A | 2016-10-06 | |||
| JP2011081634A | 2011-04-21 | |||
| JP2010169521A | 2010-08-05 |
Other References:
See also references of EP 3779356A4
Attorney, Agent or Firm:
PATENT FIRM SHINMEI CENTURY (JP)
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