Pedestrian observation system, recording medium, and estimation of direction of travel

A pedestrian observation system according to 1, further comprising:

• a posture estimation element configured to acquire posture information indicating a posture of the acceleration detection element with respect to an observation coordinate system suitable for observation of a walking movement of the pedestrian;
• a conversion element configured to, based on the posture information acquired by the posture estimation element, perform coordinate conversion for the acceleration information acquired by the acceleration detection element into the observation coordinate system to acquire converted acceleration information;
• and
• a low-pass filter processing element configured to extract a low frequency component from the converted acceleration information acquired by the conversion element to acquire acceleration information for detection, and
• wherein the horizontal direction detection element acquires the horizontal peak information based on the acceleration information for detection acquired by the low-pass filter processing element, and
• the vertical direction detection element acquires the vertical peak information based on the acceleration information for detection acquired by the low-pass filter processing element.

A pedestrian observation comprising:

• an acquisition element configured to acquire acceleration information acquired by an acceleration detection element accompanying a pedestrian in accordance with a terminal coordinate system defined in the acceleration detection element from the acceleration detection element;
• a posture estimation element configured to acquire posture information indicating a posture of the acceleration detection element with respect to an observation coordinate system suitable for observation of a walking movement of the pedestrian;
• a conversion element configured to perform coordinate conversion for the acceleration information acquired by the acquisition element based on the posture information acquired by the posture estimation element, to acquire converted acceleration information;
• and
• a low-pass filter element configured to extract a low frequency component from the converted acceleration information acquired by the conversion element to acquire acceleration information for determination, and
• wherein traveling direction information indicating a direction of travel of the pedestrian is calculated based on the acceleration information for detection.

A non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a computer, cause the computer to perform a method comprising:

• obtaining a power of an acceleration in a horizontal plane based on an acceleration component in a first direction perpendicular to a vertical direction and an acceleration component in a second direction perpendicular to the vertical direction and the first direction, that are obtained from acceleration information acquired by an acceleration detection element accompanying a pedestrian in accordance with a terminal coordinate system defined in the acceleration detection element, thereby acquiring a time of observation of a maximum value of the power, an acceleration component in the first direction at the time of observation of the maximum value of the power, and an acceleration component in the second direction at the time of observation of the maximum value of the power to acquire horizontal peak information;
• acquiring times of observation of a maximum value and a minimum value of the acceleration in the vertical direction to acquire vertical peak information;
• choosing information on the maximum value of the power contained in the acquired horizontal peak information based on the acquired vertical peak information, to acquire peak information for estimation;
• and
• acquiring traveling direction information indicating a direction of travel of the pedestrian based on the acquired peak information for estimation, performed by circuitry.

A non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a computer, cause the computer to perform a method comprising:

• acquiring acceleration information by an acceleration detection element accompanying a pedestrian in accordance with a terminal coordinate system defined in the acceleration detection element, from the acceleration determination element;
• acquiring posture information indicating a posture of the acceleration detection element with respect to an observation coordinate system suitable for observation of a walking movement of the pedestrian;
• performing coordinate conversion for the acquired acceleration information based on the acquired posture information to acquire converted acceleration information;
• and
• extracting a low frequency component from the converted acceleration information to acquire acceleration information for detection, performed by circuitry, wherein
• traveling direction information indicating a direction of travel of the pedestrian is calculated based on the acceleration information for detection.

A direction of travel estimation method for observing a movement of a pedestrian, comprising:

• acquiring acceleration information in accordance with a uniquely defined terminal coordinate system accompanying a pedestrian;
• obtaining a power of an acceleration in a horizontal plane based on an acceleration component in a first direction perpendicular to a vertical direction and an acceleration component in a second direction perpendicular to the vertical direction and the first direction, that are obtained from the acquired acceleration information, thereby acquiring a time of observation of a maximum value of the power, an acceleration component in the first direction at the time of the observation of that maximum value of the power, and an acceleration component in the second direction at the time of observation of that maximum value of the power to acquire horizontal peak information;
• acquiring times of observation of a maximum value and a minimum value of the acceleration in the vertical direction based on the acquired acceleration information to acquire vertical peak information;
• choosing information related to the maximum value of the power contained in the acquired horizontal peak information based on the acquired vertical peak information, to acquire peak information for estimation;
• and
• acquiring traveling direction information indicating a direction of travel of the pedestrian based on the acquired peak information for estimation.

A direction of travel estimation method for observing a movement of a pedestrian, comprising:

• acquiring acceleration information acquired by an acceleration detection element accompanying a pedestrian in accordance with a terminal coordinate system defined in the acceleration detection element;
• acquiring posture information indicating a posture of the acceleration detection element with respect to an observation coordinate system suitable for observation of a walking movement of the pedestrian;
• performing coordinate conversion for the acceleration information into the observation coordinate system based on the posture information, to acquire converted acceleration information;
• and
• extracting a low frequency component from the converted acceleration information to acquire acceleration information for detection, performed by circuitry, wherein
• traveling direction information indicating a direction of travel of the pedestrian is calculated based on the acceleration information for detection.