JP2007080060A - Object identification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object specifying device for accurately specifying an object existing in a direction indicated by a user's hand or finger.
A positioning unit 13 detects a current position of a vehicle and a direction of the vehicle. The imaging unit 18 images the surroundings of the vehicle. The pointing direction detection unit 16 detects an instruction direction indicated by a user in the vehicle using his / her hand. The object extraction unit extracts an object existing in the indicated direction detected by the pointing direction detection unit 16 from the image captured by the imaging unit 18. The object position specifying unit specifies the position of the object extracted by the object extracting unit with respect to the vehicle.
[Selection] Figure 1

Description

  The present invention relates to an object specifying device, and more specifically to an object specifying device that specifies an object around a vehicle based on a direction indicated by a user's hand or finger.

  2. Description of the Related Art In recent years, car navigation devices that can browse information on the periphery of a vehicle stored together with map information on a recording medium such as an HDD (Hard Disk Drive) or a DVD (Digital Versatile Disk) on a display have become widespread.

On the other hand, not only from the information displayed on the map on the display, but also by reading out the place name and facility name on the map that exists in the direction indicated by the driver and other passengers, A navigation device for displaying on a display is disclosed (for example, see Patent Document 1). As a result, information such as the names of buildings, lakes, and the like, and the names of surrounding places, etc. that the passenger sees can be quickly obtained by pointing with the hand or finger of the passenger.
JP 2003-106861 A

  However, the navigation device disclosed in Patent Document 1 uses the elevation angle in the indicated direction to calculate the distance to the object existing in the indicated direction indicated by the passenger's hand or finger. The distance up to is divided into four steps and associated with each other. Therefore, it is necessary to specify an object existing in the indicated direction for a certain wide range from the map information in the map information storage unit, and there remains a problem in the accuracy of specifying the object. Further, not only information related to the periphery of the vehicle, but also an object (for example, a distant sign or a signboard) that is located at a relatively far distance and difficult for the passenger to visually recognize cannot be identified with high accuracy.

  Therefore, an object of the present invention is to provide an object specifying device that accurately specifies an object existing in a direction indicated by a user's hand or finger.

In order to achieve the above object, the present invention has the following features.
1st invention is the target object specific apparatus which specifies the position of the target object around a vehicle. The object specifying device includes a positioning unit, an imaging unit, a pointing direction detecting unit, an object extracting unit, and an object position specifying unit. The positioning unit detects the current position of the vehicle and the direction of the vehicle. The imaging unit images the surroundings of the vehicle. The pointing direction detection unit detects an instruction direction indicated by a user in the vehicle using his / her hand. The object extraction unit extracts an object existing in the indicated direction detected by the pointing direction detection unit from the image captured by the imaging unit. The object position specifying unit specifies the position of the object extracted by the object extracting unit with respect to the vehicle.

  In a second aspect based on the first aspect, the imaging unit is composed of at least one camera installed in the vehicle. The target object specifying device further includes a coordinate conversion unit. The coordinate conversion unit converts the indication direction detected by the pointing direction detection unit into an indication direction in a camera coordinate system based on the imaging direction of the camera. The target object extraction unit extracts, as a target object, an imaged object imaged in the indicated direction converted by the coordinate conversion unit from the image captured by the imaging unit.

  In a third aspect based on the second aspect, the imaging unit is composed of a plurality of cameras installed on the vehicle in parallel equiposition. The object extraction unit extracts a region of a predetermined size captured in the indicated direction from an image captured by one camera, and is captured in the specified direction by matching the image of that region with the image captured by the other camera. The captured object is extracted as an object. The object position specifying unit calculates the position of the object with respect to the vehicle based on directions in which the plurality of cameras are respectively imaging the objects.

  In a fourth aspect based on the third aspect, the object extraction unit extracts, as an image of a region, an image captured in a space surrounded by the designated direction when the designated direction changes in time series To do.

  In a fifth aspect based on the second aspect, the imaging unit is constituted by a single camera installed in the vehicle. The target object specifying device further includes a map information storage unit. The map information storage unit stores at least a three-dimensional map near the current position of the vehicle. The object extraction unit extracts the contour of the object to be imaged in the designated direction from the image captured by the camera as the contour of the object. The target object position specifying unit specifies the position of an object having a shape matching the contour extracted by the target object extracting unit from the three-dimensional map on the three-dimensional map, and calculates the position of the target object with respect to the vehicle.

  In a sixth aspect based on the first aspect, the display device further includes a display unit, a pointer coordinate determination unit, and a display control unit. The display unit projects an image using at least one glass provided in the vehicle as a display area. The pointer coordinate determination unit determines an intersection coordinate between the indication direction detected by the pointing direction detection unit and the glass in which the display area is set. The display control unit controls the display of the pointer image in the display area on the intersection coordinates determined by the pointer coordinate determination unit.

  In a seventh aspect based on the first aspect, the display device further includes a display unit, a line-of-sight detection unit, a pointer coordinate determination unit, and a display control unit. The display unit projects an image using at least one glass provided in the vehicle as a display area. The line-of-sight detection unit detects a user's line-of-sight direction in the vehicle. The pointer coordinate determining unit determines an intersection coordinate between a straight line connecting the position of the object specified by the object position specifying unit and the user's line of sight and the glass on which the display area is set. The display control unit controls the display of the pointer image in the display area on the intersection coordinates determined by the pointer coordinate determination unit.

  An eighth invention according to the sixth or seventh invention further comprises an adjustment unit. The adjustment unit adjusts the intersection coordinates determined by the pointer coordinate determination unit in accordance with an instruction from the user.

  In a ninth aspect based on the first aspect, the imaging unit includes a plurality of cameras installed in the vehicle. The target object specifying device further includes a display unit and a selection unit. The display unit is installed in the vehicle. The selection unit selects any one image from the images output from the plurality of cameras according to the instruction direction detected by the pointing direction detection unit, and displays the selected image on the display unit.

  In a tenth aspect based on the ninth aspect, an imaging control unit is further provided. The imaging control unit controls the imaging direction of the camera that captures the image selected by the selection unit so that the object specified by the object position specifying unit is imaged at the center of the image.

  In an eleventh aspect based on the ninth aspect, an imaging control unit is further provided. The imaging control unit controls the imaging magnification of the camera that captures the image selected by the selection unit so that the object specified by the object position specifying unit is enlarged or reduced at the center of the image.

  In a twelfth aspect based on the first aspect, the map information storage section and the information output section are further provided. The map information storage unit stores at least map information in the vicinity of the current position of the vehicle and information for each area represented by the map. The information output unit extracts information related to the object specified by the object position specifying unit from the information stored in the map information storage unit, and notifies the user in the vehicle.

  In a thirteenth aspect based on the twelfth aspect, the communication section and the display section are further provided. The communication unit can communicate via a predetermined network. The display unit displays information output from the information output unit. When the information stored in the map information storage unit indicates the location of the information resource existing on the network, the information output unit acquires the information from the information resource via the communication unit and displays it on the display unit.

  In a fourteenth aspect based on the first aspect, the information processing apparatus further includes a map information storage unit and a route search unit. The map information storage unit stores at least map information near the current position of the vehicle. The route search unit performs a route search by setting the position of the object specified by the object position specifying unit as a waypoint or a destination.

  According to the first aspect of the invention, in specifying the object existing in the direction indicated by the user's hand or finger, the object is specified using the image captured by the imaging unit, so the position of the object is determined with high accuracy. Can be identified.

  According to the second aspect, since the direction pointed to by the user is converted into camera coordinates and the object to be imaged in the direction is extracted, the recognition accuracy of the object is improved.

  According to the third aspect, the object can be specified with high accuracy using the principle of the stereo camera.

  According to the fourth aspect of the invention, the object can be extracted according to the shape pointed to and specified by the user, and matching accuracy is improved by matching using the image surrounded by the shape. An object can be identified efficiently and with high accuracy.

  According to the fifth aspect, the object can be specified by configuring the imaging unit with a single camera.

  According to the sixth or seventh invention, the user can adjust the indicated direction and the direction of the object being viewed while looking at the displayed pointer. Can be easily grasped.

  According to the eighth aspect of the invention, it is possible to reliably identify an object that exists in the indicated direction.

  According to the ninth aspect, an appropriate video can be displayed on the display unit in accordance with the direction indicated by the user.

  According to the tenth and eleventh aspects of the present invention, it is possible to provide the user with an image focusing on the object.

  According to the twelfth aspect, information about the object can be easily obtained.

  According to the thirteenth aspect, information relating to an object such as a Web page published on the Internet or the like can be easily obtained.

  According to the fourteenth aspect of the present invention, it is possible to provide a car navigation device that can easily perform route setting and can perform input in consideration of safety.

(First embodiment)
Hereinafter, the target object specifying device according to the first embodiment of the present invention will be described. In order to make the description more specific, an example in which the object identification device is applied to a car navigation device will be described with reference to the drawings. In the drawings referred to below, components not related to the present invention are omitted.

  A car navigation apparatus 1 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a configuration diagram showing a schematic configuration of the car navigation device 1 according to the first embodiment. FIG. 2 is a schematic diagram illustrating a state in which a user (for example, a passenger such as a driver of a vehicle) points an object with a hand or a finger.

  In FIG. 1, the car navigation device 1 includes a control unit 11, a map information storage unit 12, a positioning unit 13, an input unit 14, an audio output unit 15, a pointing direction detection unit 16, a pointing coordinate acquisition unit 17, and an imaging unit 18. The image recognition / ranging unit 20, the pointer coordinate determination unit 21, and the display unit 22. In FIG. 2, the user of the vehicle C indicates a part of the object M with the hand H. In addition, although the car navigation apparatus 1 is mounted in the vehicle C, only the positioning unit 13 and the imaging unit 18 are illustrated in FIG.

  The control unit 11 is a unit that controls basic functions of the car navigation device 1 such as a navigation function such as route search and guidance, and executes processing to be described later, and includes, for example, a CPU and an MPU.

  The map information storage unit 12 is a storage medium that stores map information necessary for route guidance and search, and is, for example, an HDD (hard disk drive) or a DVD (digital versatile disk). In addition, the map information storage unit 12 includes at least the position and name of an object (for example, a facility such as a building) existing near the current location where the vehicle C is located and information related to the object (for example, URL (Uniform Resource Locator)). ; Uniform resource locator), business hours, advertisements, etc.) are stored. Note that the map information storage unit 12 may appropriately download and store information from the center facility by communication means (for example, a mobile phone) (not shown).

  The positioning unit 13 is a means for positioning the current position and direction of the vehicle, and includes, for example, a GPS (Global Positioning System), an INS (Internal Navigation System), a vehicle speed sensor, and the like. . The INS is composed of an acceleration sensor and a gyro sensor, and calculates the current position and direction of the vehicle C by integration from an initial value. Here, FIG. 2 illustrates a state where the INS is fixedly installed on the vehicle C as the positioning unit 13. In the vehicle coordinate system described below, the front-rear direction of the vehicle C is the X axis, and the forward traveling direction of the vehicle C is the X axis positive direction. The left-right direction of the vehicle body C is the Y axis, and the right direction of the vehicle C is the Y-axis positive direction. The direction perpendicular to the XY plane (that is, the vertical direction of the vehicle C) is taken as the Z axis, and the upward direction of the vehicle C is taken as the positive Z axis direction.

  The input unit 14 is means for inputting a user-desired instruction to the object M indicated by the user with a hand or a finger (hereinafter, only a hand is described) H. For example, a microphone or a voice recognition engine for voice input Etc.

  The voice output unit 15 is a means for reading out information related to the object M extracted by the control unit 11 from the map information storage unit 12, and includes, for example, a voice synthesis engine or a speaker.

  The pointing direction detection unit 16 is a means for detecting the direction indicated by the user (a vehicle occupant such as a driver) with the hand H, and is fixed in the vehicle C that captures an image of the hand H, for example. It is composed of multiple cameras. Further, as the pointing direction detection unit 16, a known detection unit that radiates a predetermined radio wave into the vehicle C and detects the direction indicated by the hand H may be used.

  The pointing coordinate acquisition unit 17 is a means for acquiring three-axis coordinate values (hereinafter referred to as pointing coordinates (system)) using the information acquired by the pointing direction detection unit 16, for example. The image processing circuit configured to perform image processing on a plurality of images captured by the pointing direction detection unit 16. Then, the pointing coordinate acquisition unit 17 outputs the acquired pointing coordinates to the control unit 11.

  The imaging unit 18 is a means for acquiring an image around the vehicle provided outside the vehicle C, and is, for example, a single camera or a stereo camera. As illustrated in FIG. 2, the imaging unit 18 is installed on the roof of the vehicle C and images the front of the vehicle C. Here, the imaging unit 18 is installed such that the positive direction of the X axis is the imaging direction, although the origin is different from that of the vehicle coordinate system described above. Hereinafter, a coordinate system based on the imaging direction of the imaging unit 18 is referred to as a camera coordinate system. In addition, although the example which installs the imaging part 18 on the roof of the vehicle C was shown in FIG. 2, you may install in the room | chamber interior (for example, room mirror) of the vehicle C. FIG.

  The image recognition / ranging unit 20 is a means for recognizing the image captured by the imaging unit 18 and measuring the distance to the object M specified by the control unit 11. Then, the image recognition / ranging unit 20 outputs the image captured by the imaging unit 18 and distance information to the control unit 11.

  The pointer coordinate determination unit 21 is a means for determining pointer coordinates (point A in FIG. 2) that are two-dimensional coordinates on the windshield of the vehicle C existing between the user's hand H and the object M. . Hereinafter, the two-dimensional coordinate system on the windshield of the vehicle C is referred to as a pointer coordinate system.

  The display unit 22 is a means for projecting and displaying the pointer P on the indoor surface of the windshield of the vehicle C based on the pointer coordinates determined by the pointer coordinate determining unit 21. The display unit 22 may be configured by a HUD (Head Up Display).

  Next, a state in which the user points the hand H through the windshield F in front of the vehicle C will be described with reference to FIG. FIG. 3 is a schematic diagram showing a state in which the pointer P is projected when the user points the hand H through the windshield F in front of the vehicle C.

  In FIG. 3, a pointer P is displayed on the windshield F with respect to the scenery around the vehicle that can be seen through the windshield F of the vehicle C. In this way, the pointer P is displayed on the windshield F, and the display position is the point where the straight line connecting the user's hand H and the object M and the windshield F overlap (point A shown in FIG. 2, ie, pointer coordinates). ) Is displayed. Thus, the user can adjust the direction pointed with the hand H while looking at the pointer P and the direction with respect to the object M, so that the correspondence with the object M in the indicated direction can be easily grasped. Can do. Note that by installing a plurality of imaging units 18 and display units 22 so as to capture 360 degrees around the vehicle C, the pointer P can be projected and displayed not only on the windshield F but also on the side glass and rear glass of the vehicle C. It doesn't matter. In FIG. 3, the pointer P is displayed, but other displays may be used as long as the correspondence between the pointing direction and the object M can be understood. For example, a figure corresponding to the contour of the target object M specified according to the pointing direction may be displayed, or a display of filling the inside of the contour of the target object M may be performed.

  Next, a first example of the operation of the car navigation device 1 will be described with reference to FIGS. FIG. 4 is a flowchart showing the operation of the first half in the first example of the car navigation apparatus 1. FIG. 5 is a flowchart showing the operation of the latter half of the first example of the car navigation device 1. FIG. 6 is a diagram for explaining an example of a pointing coordinate system and a vehicle coordinate system used in the operation of the car navigation apparatus 1. FIG. 7 is a diagram for explaining an example of a camera coordinate system used in the operation of the car navigation apparatus 1. FIG. 8 is a diagram for explaining an example of a pointer coordinate system used in the operation of the car navigation apparatus 1. Here, it is assumed that the imaging unit 18 is configured by a stereo camera. The map information storage unit 12 stores a two-dimensional map as the map information.

  In FIG. 4, when a keyword that prompts activation of the car navigation device 1 (for example, “pointing input activation”) is input from the user to the input unit 14, the car navigation device 1 is activated (step S10). When the user points to an object M such as a building existing in the forward direction of the vehicle C (Yes in step S11), the pointing direction detection unit 16 detects it. Then, using the information detected by the pointing direction detection unit 16, the pointing coordinate acquisition unit 17 acquires the pointing coordinates (Xh, Yh) (step S12). Then, the pointer coordinate determining unit 21 converts the pointing coordinates (Xh, Yh) acquired in step S12 into pointer coordinates (Xp, Yp) (step S13). Further, the control unit 11 converts the pointing coordinates (Xh, Yh) acquired in step S12 into camera coordinates mr (Xr, Yr) (step S14). The control part 11 and the pointer coordinate determination part 21 are respectively the installation position and angle of the windshield F, the installation position and direction of the cameras (that is, the pointing direction detection unit 16 and the imaging unit 18) installed inside and outside the vehicle C, Furthermore, the coordinate transformation matrix used for these coordinate transformations is determined in advance according to the position of the positioning unit 13 installed in the vehicle C.

  A pointing coordinate system, a vehicle coordinate system, a camera coordinate system, and a pointer coordinate system will be described with reference to FIGS. The control unit 11 and the pointer coordinate determination unit 21 can perform coordinate conversion between these coordinate systems using the coordinate conversion matrix.

  In FIG. 6, the pointing coordinate system defines the horizontal direction of the hand H as the X axis (horizontal axis), the vertical direction of the hand H as the Y axis (vertical axis), the right direction as the X axis positive direction, and the upward direction as the upward direction. Y-axis positive direction. The coordinates specified in the pointing coordinate system are indicated by pointing coordinates (Xh, Yh). The vehicle coordinate system defines the front-rear direction of the vehicle C as the X axis, the left-right direction of the vehicle body C as the Y-axis, and the up-down direction of the vehicle C as the Z-axis, based on the position of the positioning unit 13. The traveling direction is the X-axis positive direction, the right direction of the vehicle C is the Y-axis positive direction, and the upward direction of the vehicle C is the Z-axis positive direction. The coordinates specified in the vehicle coordinate system are indicated by vehicle coordinates (Xv, Yv, Zv). The controller 11 can also calculate the latitude, longitude, and altitude (geodetic coordinate system) of the vehicle C from the vehicle coordinate system.

  In FIG. 7, two cameras (stereo cameras) having the same specification are installed in parallel equiposition as the imaging unit 18. Parallel equiposition is a camera arrangement in which the respective imaging surfaces are made to coincide with each other while the optical axes of the two cameras are made parallel, and the horizontal axes (x-axis) of the respective imaging surfaces are also made to coincide. In the example of the camera arrangement shown in FIG. 7, two cameras having a focal length f are arranged with the distance between the left and right cameras as the camera distance B. As shown in FIG. 7, the right camera focal point O is the origin, the optical axis direction of the left and right cameras is the Z axis, the direction connecting the focal points of the left and right cameras is the X axis, and the direction perpendicular to the X axis and the Z axis is the Y axis. Assume that the object M exists at a position M (Xm, Ym, Zm) in the coordinate system of the real space. Then, the camera coordinate system mr (Xr, Yr) of the right camera and the coordinate system ml (Xl, Yl) of the left camera are set on the imaging planes of the right camera and the left camera, and the intersections Or and Ol with the optical axis are set as the origins. Coordinate system. The X axis of the real space coordinate system, the Xr axis of the right camera coordinate system, and the Xl axis of the left camera coordinate system are all made to coincide with the direction from the focus of the left camera toward the focus of the right camera.

In such a camera arrangement, since Yl = Yr, the position M (Xm, Ym, Zm) of the object M, the right camera coordinates mr (Xr, Yr), and the left camera coordinates ml (Xl, Yl) are The following relational expression is satisfied.
Xm = Zm / f × Xr
Ym = Zm / f × Yr
Zm = B × f / (X1-Xr)
Here, since B is the camera interval and f is the focal length, both are constants. As apparent from these equations, Zm can be obtained by measuring Xl-Xr (parallax), and the coordinates (Xm, Ym, Zm) of the object M can be obtained by using the position (Xr, Yr) of the image with the right camera. ) Can be calculated.

  Here, the parallax (X1−Xr) is a stereo matching that searches the left image for the same pattern as the small region (predetermined size pixels × predetermined size pixels) of the right image and extracts the relative shift of the matched positions. It can be determined using a process. More specifically, an evaluation function indicating the degree of pattern matching is introduced, the degree of matching is determined while shifting the search range pixel by pixel, and the parallax is obtained by obtaining the small region having the highest degree of matching from the left image. Can do.

  In FIG. 8, the pointer coordinate system is defined with the upper left corner of the windshield F as the origin, the horizontal direction as the X axis, the vertical direction as the Y axis, the right direction as the X axis positive direction, and the downward direction as the Y axis positive direction. To do. The coordinates specified in the pointer coordinate system are indicated by pointer coordinates (Xp, Yp).

  Returning to FIG. 4, the display unit 22 projects and displays the pointer P on the windshield F using the pointer coordinates (Xp, Yp) subjected to coordinate conversion in step S <b> 13 (step S <b> 15; see FIG. 3). Then, the car navigation apparatus 1 advances the processing to the next step S20 (FIG. 5).

  In addition, the display of the pointer P in step S15 may be always displayed while the car navigation apparatus 1 is activated, may be displayed only for a certain period of time, or is related to the object M in the map information storage unit 12. It may be displayed only when information is stored. By making the display presence / absence corresponding to the presence / absence of information, it can be easily understood that information related to the object M existing in the indicated direction is not stored, and confusion of the user can be prevented.

  On the other hand, in parallel with the process of step S15, a process for specifying the three-dimensional position of the object M pointed to by the user is performed using the camera coordinates mr (Xr, Yr) coordinate-converted in step S14. . The image recognition / ranging unit 20 extracts a small area (see FIG. 7) centered on the camera coordinates mr (Xr, Yr) subjected to coordinate conversion from the image captured by the right camera of the imaging unit 18 (step S16). ). Then, the image recognition / ranging unit 20 and the control unit 11 calculate the position M (Xm, Ym, Zm) of the object M using stereo matching processing (step S17). Specifically, the image recognition / ranging unit 20 searches the image captured by the left camera of the imaging unit 18 for the same pattern as the small region, and calculates the parallax (Xl−Xr) from the relative shift of the matched positions. ) Then, the position M (Xm, Ym, Zm) is calculated using the equation for obtaining the camera interval B, the focal length f, and the above-described Xm, Ym, Zm.

  Next, the control unit 11 performs coordinate conversion of the position M (Xm, Ym, Zm) to the position M (Xv, Yv, Zv) in the vehicle coordinate system (step S18). This is a process of converting the position M (Xm, Ym, Zm) to the position (Xv, Yv, Zv) in the vehicle coordinate system because the position is based on the focal point O of the right camera as the origin. Then, the control unit 11 specifies the three-dimensional position of the object M by converting the position M (Xv, Yv, Zv) in the vehicle coordinate system into the latitude, longitude, and altitude (geodetic coordinate system) of the vehicle C. (Step S19). Then, the car navigation apparatus 1 advances the processing to the next step S20 (FIG. 5).

  In FIG. 5, when the object M is specified (Yes in Step S20), the control unit 11 determines whether there is an input instruction from the user via the input unit 14 (Step S21). And the control part 11 returns to the said step S11, and repeats a process, when the target object M is not specified (No in step S20) or when there is no input instruction (No in step S21). On the other hand, when there is an input instruction (Yes in Step S21), the control unit 11 performs a process according to the content of the input instruction (Steps S22 to S27).

  For example, when the user's utterance is recognized as “reading”, the control unit 11 acquires information related to the three-dimensional position of the object M identified in step S19 from the map information storage unit 12, and outputs the voice. The information is read out by the voice by the unit 15 (step S22). When the user's utterance is recognized as “display”, the control unit 11 acquires information related to the three-dimensional position of the object M identified in step S19 from the map information storage unit 12, and the display unit 22 The information is displayed (step S23). When the user's utterance is recognized as “route setting”, the control unit 11 calculates a route to the target object M specified in step S19 and displays the calculated route on the display unit 22 for guidance. (Step S24). In this case, the object M may be set at any of the waypoints and destinations in the route. When the user's utterance is recognized as “homepage display”, the control unit 11 obtains the URL information of the object M identified in step S19 from the map information storage unit 12, and through communication means (not shown), The home page of the object M is downloaded from the server, and the home page is displayed on the display unit 22 (step S25). In the case of steps S24 and S25, a vehicle-mounted display (liquid crystal display, organic EL display, etc.) provided separately from the windshield F may be displayed as the display unit 22. When the user's utterance is recognized as “reflect on the map”, the control unit 11 stores information (not stored in the map information storage unit 12 regarding the object M identified in step S19 via the communication unit ( (Difference information) is downloaded from the center side, and the difference information is reflected and stored in the map information storage unit 12 (step S26). That is, the information related to the map and the object can be updated by step S26. And after operation | movement of these steps S22-S26, the car navigation apparatus 1 returns to said step S11, and repeats a process.

  On the other hand, when the user's utterance is recognized as “stopped”, the pointer P displayed on the windshield F by the display unit 22 is erased (step S27 to the pointing input function of the car navigation device 1). The operation is stopped (step S28), and the process according to the flowchart ends.

  As described above, since the predetermined operation is completed by voice input after the object M is specified, a car navigation device capable of performing input in consideration of safety during driving can be provided.

  Note that the car navigation device 1 can also have functions other than the input instruction described above. For example, a vehicle existing in the direction indicated by the user is set as an object M, an operation when transmitting / receiving information by inter-vehicle communication with the own vehicle, an operation of reading the plate number of the vehicle, a dynamic following the vehicle The car navigation device 1 may perform operations such as route search and guidance. In addition, the car navigation device 1 may perform an operation of making a telephone call set on the target object M present in the direction indicated by the user, an operation of sending mail to the mail address of the target object M, and the like.

  In the above description, the operation in the case where there is an instruction from the user while the pointer P is displayed in the direction pointed to by the user has been described, but the present invention is not limited to this. For example, information related to the object M such as a facility name may be automatically displayed at the same time without an input instruction from the user. Further, the pointer P may not be displayed, and only information related to the object M such as a facility name may be displayed. As a result, the facility name and the like of the object M can be displayed instantaneously simply by pointing the object M through the windshield F.

  In addition, when there is an error in the coordinate transformation matrix used for coordinate transformation between the coordinate systems and the indicated direction and the pointer P are not aligned, it is desirable to perform calibration by finely adjusting the pointer coordinates. Thereby, the parameter of the coordinate transformation matrix can be corrected.

  Next, a second example of the operation of the car navigation device 1 will be described with reference to the drawings with reference to FIGS. 9 and 10. FIG. 9 is a flowchart showing the operation of the first half part in the second example of the car navigation apparatus 1. FIG. 10 is a diagram schematically showing an operation of specifying an object using a three-dimensional computer graphic (CG) map. Note that the operation of the latter half of the second example of the car navigation device 1 is the same as that in FIG. Here, it is assumed that the imaging unit 18 is configured by a single camera. The map information storage unit 12 stores a three-dimensional CG map as at least one of the map information.

  In FIG. 9, when a keyword that prompts activation of the car navigation device 1 (for example, “pointing input activation”) is input from the user to the input unit 14, the car navigation device 1 is activated (step S30). When the user points to an object M such as a building that exists in the forward direction of the vehicle C (Yes in step S31), the pointing direction detection unit 16 detects it. Then, using the information detected by the pointing direction detection unit 16, the pointing coordinate acquisition unit 17 acquires the pointing coordinates (Xh, Yh) (step S32). Then, the pointer coordinate determination unit 21 converts the pointing coordinates (Xh, Yh) acquired in Step S32 into pointer coordinates (Xp, Yp) (Step S33). Further, the control unit 11 converts the pointing coordinates (Xh, Yh) acquired in step S32 into camera coordinates c (Xc, Yc) (step S34). The control part 11 and the pointer coordinate determination part 21 are respectively the installation position and angle of the windshield F, the installation position and direction of the cameras (that is, the pointing direction detection unit 16 and the imaging unit 18) installed inside and outside the vehicle C, Furthermore, the coordinate transformation matrix used for these coordinate transformations is determined in advance according to the position of the positioning unit 13 installed in the vehicle C.

  Here, the pointing coordinate system, the vehicle coordinate system, the camera coordinate system, and the pointer coordinate system used in the operation shown in FIG. 9 are the same as those in FIG. 6 except that the camera coordinate system is set for a single camera. Since it is the same as the coordinate system described with reference to FIG. 8, detailed description thereof is omitted. In order to distinguish from the camera coordinate system mr (Xr, Yr) and ml (Xl, Yl) in the stereo camera, the camera coordinate system in the single camera is described as c (Xc, Yc).

  The display unit 22 projects and displays the pointer P on the windshield F using the pointer coordinates (Xp, Yp) converted in step S33 (step S35; see FIG. 3). Then, the car navigation apparatus 1 advances the processing to the next step S20 (FIG. 5).

  On the other hand, in parallel with the process of step S35, the process of specifying the three-dimensional position of the object M pointed to by the user is performed using the camera coordinates c (Xc, Yc) coordinate-converted in step S34. . 9 and 10, the image recognition / ranging unit 20 performs image processing on the vehicle front image captured by the single camera of the image capturing unit 18 and acquires the contour of the object captured in the indicated direction. (Step S36). Next, based on the current position of the vehicle C being measured by the positioning unit 13 and the direction of the vehicle C, the control unit 11 virtually corresponds to the landscape captured by the imaging unit 18 mounted on the vehicle C. A three-dimensional CG map is acquired from the map information storage unit 12 (step S37). And the control part 11 extracts the image of the shape corresponding to the outline acquired by said step S36 from the image of the acquired 3D CG map, and specifies the 3D position of the target object M corresponding to the said image (step) S38). Then, the car navigation apparatus 1 advances the processing to the next step S20 (FIG. 5). By such processing, the three-dimensional position of the object M to be pointed can be specified.

  Next, with reference to FIG. 11 and FIG. 12, a third example of the operation of the car navigation device 1 will be described with reference to the drawings. FIG. 11 is a flowchart showing the operation of the first half in the third example of the car navigation apparatus 1. FIG. 12 is a diagram for capturing a third example of the operation of the car navigation apparatus 1. The operation of the latter half of the first example of the car navigation device 1 is the same as that in FIG. Here, it is assumed that the imaging unit 18 is configured by a stereo camera. The map information storage unit 12 stores a two-dimensional map as the map information.

  In FIG. 11, when a keyword that prompts activation of the car navigation device 1 (for example, “pointing input activation”) is input from the user to the input unit 14, the car navigation device 1 is activated (step S <b> 40). When the user points to an object M such as a building that exists in the forward direction of the vehicle C (Yes in step S41), the pointing direction detection unit 16 detects it. Then, using the information detected by the pointing direction detection unit 16, the pointing coordinate acquisition unit 17 acquires the pointing coordinates (Xh, Yh) (step S42). Then, the pointer coordinate determination unit 21 converts the pointing coordinates (Xh, Yh) acquired in Step S42 into pointer coordinates (Xp, Yp) (Step S43). The pointing coordinate system, the vehicle coordinate system, the camera coordinate system, and the pointer coordinate system used in the operation in the third example are the same as the coordinate system described with reference to FIGS. Is omitted. Also in the third example, the control unit 11 and the pointer coordinate determination unit 21 are respectively provided with the installation position and angle of the windshield F, and cameras installed inside and outside the vehicle C (that is, the pointing direction detection unit 16). The coordinate transformation matrix used for the coordinate transformation is determined in advance according to the installation position and direction of the imaging unit 18) and the position of the positioning unit 13 installed in the vehicle C.

  Next, the display unit 22 projects and displays the pointer P on the windshield F using the pointer coordinates (Xp, Yp) converted in step S43 (step S44; see FIG. 3). Then, the control unit 11 determines whether or not the pointer P has drawn a locus such that the start point and the end point of the enclosing curve coincide (step S45; FIG. 12). The car navigation device 1 repeats the processes of steps S41 to S44 until the start point and the end point match, and if the start point and the end point match (Yes in step S45), the process proceeds to the next step S46.

  In step S46, the control unit 11 performs coordinate conversion of the pointer coordinates (Xp, Yp) group in which the coordinates are converted in step S43 and the enclosing curve is drawn, into camera coordinates mr (Xr, Yr). The image recognition / ranging unit 20 extracts a small region (see FIG. 12) surrounded by the coordinate-converted camera coordinate mr (Xr, Yr) group from the image captured by the right camera of the imaging unit 18 (step 12). S47). Then, the image recognition / ranging unit 20 and the control unit 11 calculate the position M (Xm, Ym, Zm) of the object M existing in the enclosed area using stereo matching processing (step S48). Specifically, the image recognition / ranging unit 20 searches the image captured by the left camera of the imaging unit 18 for the same pattern as the small region, and calculates the parallax (Xl−Xr) from the relative shift of the matched positions. ) Then, the position M (Xm, Ym, Zm) is calculated using the equation for obtaining the camera interval B, the focal length f, and the above-described Xm, Ym, Zm.

  Next, the control unit 11 performs coordinate conversion of the position M (Xm, Ym, Zm) to the position M (Xv, Yv, Zv) in the vehicle coordinate system (step S49). This is a process of converting the position M (Xm, Ym, Zm) to the position (Xv, Yv, Zv) in the vehicle coordinate system because the position is based on the focal point O of the right camera as the origin. Then, the control unit 11 specifies the three-dimensional position of the object M by converting the position M (Xv, Yv, Zv) in the vehicle coordinate system into the latitude, longitude, and altitude (geodetic coordinate system) of the vehicle C. (Step S50). Then, the car navigation apparatus 1 advances the processing to the next step S20 (FIG. 5).

  As mentioned above, although the 1st-3rd example was demonstrated about operation | movement of the car navigation apparatus 1, in any example, specification of the three-dimensional position of the target object M which a user points can be performed with high precision.

(Second Embodiment)
Hereinafter, the object specifying device according to the second embodiment of the present invention will be described. In order to make the description more specific, an example in which the object identification device is applied to a car navigation device will be described with reference to the drawings. In the drawings referred to below, components not related to the present invention are omitted.

  FIG. 13 is a configuration diagram illustrating a schematic configuration of the car navigation device 2 according to the second embodiment. The car navigation device 2 has a line-of-sight direction detection unit 23 and a line-of-sight coordinate acquisition unit 24 added to the car navigation device 1 described in the first embodiment. Since other components are the same as those in the first embodiment, the same components are denoted by the same reference numerals, and detailed description thereof is omitted.

  The line-of-sight direction detection unit 23 is a means for detecting the line of sight of a user (for example, a passenger such as a driver of a vehicle), and includes, for example, a near infrared irradiation device or a camera installed in the vehicle. The line-of-sight coordinate acquisition unit 24 is a means for acquiring coordinate values of three axes (hereinafter referred to as line-of-sight coordinates (system)) using the information acquired by the line-of-sight direction detection unit 23. For example, the line-of-sight direction The detection unit 23 irradiates the user's eyes with near infrared rays, and detects the movement of the pupil and the cornea reflection image, thereby detecting the user's line of sight. In addition, the user's line of sight may be detected by performing image processing on an image including the user's eyes captured by the line-of-sight direction detection unit 23.

  Next, referring to FIG. 14, the relationship between the direction in which the user points the object M with the hand H and the user's line of sight will be described. FIG. 14 illustrates the direction in which the user points the object M with the hand H. It is a schematic diagram which shows the said user's eyes | visual_axis.

  In FIG. 14, the user points a part of the object M with the hand H through the point A of the windshield F. This point A is the same as the point A described with reference to FIG.

  At this time, the pointer coordinate determination unit 21 is on the windshield F that intersects a straight line connecting the object M pointed by the user's hand H and the user's eye E (line of sight when the user is looking at the object M). The two-dimensional coordinates (point B in FIG. 14) are determined as pointer coordinates (Xp, Yp). Thereafter, the display unit 22 projects and displays the pointer P on the pointer coordinates (Xp, Yp) determined by the pointer coordinate determination unit 21 as in the first embodiment.

  For example, when the pointer P is projected and displayed at the point A as in the first embodiment, if the hand H is raised on the user's line of sight and the object M on the line of sight is pointed to, the pointer P and the object M Are displayed in a match. On the other hand, in the second embodiment, as shown in FIG. 14, the pointer P completely matches the user's line-of-sight direction without raising the hand H on the user's line of sight. That is, the object M can be visually recognized without a sense of incongruity without having to bring the hand H close to the user's field of view. For example, even in a state where the hand H is placed on the handle of the vehicle C, the object M can be pointed, which can contribute to safe driving.

  When the line-of-sight direction and the pointer P displayed at the point B are not on a straight line as shown in FIG. 14, calibration is performed by finely adjusting the function for converting the coordinates to the pointer coordinates (Xp, Yp). It is desirable to do.

  Further, the object in the direction indicated by the user's hand H and the object existing in the user's line-of-sight direction do not always coincide with each other. For example, even if the user points to the object M to be specified with the hand H, the user may be viewing the front of the vehicle different from the object M. In such a case, the pointer P may not be displayed. FIG. 15 is a schematic diagram showing a state in which the pointer P is displayed only when the object pointed by the hand H matches the object in the line-of-sight direction.

  In FIG. 15, the user's line of sight moves along the locus CE with respect to the landscape through the windshield F. On the other hand, the direction indicated by the user's hand H is moving along the trajectory CH with respect to the landscape through the windshield F. At this time, the pointer P is displayed on the windshield F only at a location where the user's line-of-sight direction and the direction pointed by the hand H coincide on the same object at the same time (intersection where the trajectory CE and CH intersect at the same time). Is done. Further, it is desirable that the curve corresponding to the locus CE or CH is not displayed on the windshield F. Thereby, when the object present in the direction pointed by the hand H and the object present in the line-of-sight direction do not match, by setting so that the pointer P is not displayed and the input instruction from the user is not accepted, It can contribute to safe driving.

  Note that a pointer indicating the direction indicated by the hand H and a pointer indicating the line-of-sight direction may be displayed at the same time so that the user can select which pointer to use.

(Third embodiment)
Hereinafter, the target object specifying device according to the third embodiment of the present invention will be described. In order to make the description more specific, an example in which the object identification device is applied to a car navigation device will be described with reference to the drawings. In the drawings referred to below, components not related to the present invention are omitted.

  FIG. 16 is a configuration diagram showing a schematic configuration of the car navigation device 3 according to the third embodiment. The car navigation device 3 includes an imaging control unit 25 in addition to the car navigation device 1 described in the first embodiment, and replaces the pointer coordinate determination unit 21 with a selection unit 26. In addition, the display unit 22 in the embodiment is typically an in-vehicle display (a liquid crystal display, an organic EL display, or the like), and displays an image captured by the imaging unit 18 using the activation of the apparatus as a trigger. Since other components are the same as those in the first embodiment, the same components are denoted by the same reference numerals, and detailed description thereof is omitted.

  The imaging control unit 25 is means for controlling the imaging direction (pan, tilt) and zoom of the imaging unit 18 according to a command from the control unit 11. The selection unit 26 is a means for selecting an appropriate video from the video when the imaging unit 18 includes a plurality of cameras, and the selected video is displayed on the display unit 22.

  Next, the operation of the car navigation device 3 will be described with reference to FIGS. 17 and 18. FIG. 17 is a flowchart showing the operation of the first half of the car navigation device 3. FIG. 18 is a flowchart showing the operation of the latter half of the car navigation device 3. Here, the object specifying process performed by the car navigation device 3 will be described as an example using the first example (FIG. 4) described in the first embodiment. Therefore, the imaging unit 18 is configured by a stereo camera, and a two-dimensional map is stored in the map information storage unit 12 as the map information.

  In FIG. 17, the processing of steps S60 to S67 is the same as steps S10 to S12, S14, and steps S14 to S19 shown in FIG. In addition, the pointing coordinate system, the vehicle coordinate system, and the camera coordinate system used in the operation in the third embodiment are the same as the coordinate system described with reference to FIGS. . In the third embodiment, the control unit 11 also sets the installation position and direction of the cameras (that is, the pointing direction detection unit 16 and the imaging unit 18) installed inside and outside the vehicle C, respectively, and further on the vehicle C. The coordinate transformation matrix used for these coordinate transformations is determined in advance according to the position of the positioning unit 13 installed.

  After the three-dimensional position of the object is specified in step S67, the selection unit 26 selects an image captured by any of the stereo cameras of the imaging unit 18 (step S68). For example, as a selection criterion, when the imaging unit 18 has cameras on the right and left sides of the traveling direction of the vehicle C, the pointing direction is the right side of the traveling direction of the vehicle C corresponding to the pointing direction of the passenger. Then, the video from the right camera is selected, and the video from the left camera is selected if the left side of the traveling direction. And the imaging control part 25 controls the imaging direction of the selected camera so that the said target object may be arrange | positioned in the screen center of the display part 22 based on the identified three-dimensional position of the target object (step). S69). Thereby, the target object existing in the predetermined direction can be reliably displayed on the display unit. And the control part 11 advances a process to following step S70 (FIG. 18).

  In FIG. 18, when the object M is specified (Yes in step S70), the control unit 11 determines whether there is an input instruction from the user via the input unit 14 (step S71). And the control part 11 returns to the said step S61, and repeats a process, when the target object M is not pinpointed (No in step S70) or there is no input instruction (No in step S71). On the other hand, when there is an input instruction (Yes in step S71), the control unit 11 performs processing according to the content of the input instruction (steps S72 to S75).

  For example, when the user's utterance is recognized as “enlargement”, zoom control is performed so that the imaging control unit 25 enlarges the image selected in step S68 (step S72). Thereby, since the image of the object existing far away from the vehicle C is enlarged, it is possible to easily obtain information obtained by visually recognizing the object. For example, information is easily obtained by pointing to an object (eg, a sign or a signboard) that is a little far away and cannot be confirmed without narrowing the eyes of the driver, and saying “enlarge”. be able to. At this time, a sign or a sign may be preferentially recognized. On the other hand, when the user's utterance is recognized as “reduction”, zoom control is performed so that the imaging control unit 25 reduces the image selected in step S68 (step S73). When the user's utterance is recognized as “recording”, the control unit 11 records the video displayed on the display unit 22 as a still image or a moving image in a recording unit (not shown) ( Step S74). For example, the video recorded in step S74 can be used for route guidance by calling it later. And after operation | movement of these steps S72-S74, the car navigation apparatus 3 returns to the said step S61, and repeats a process.

  On the other hand, when the user's utterance is recognized as “stop”, the imaging control unit 25 resets the camera direction and zoom of the imaging unit 18 to the initial values and deletes them (step S75), and inputs the pointing of the car navigation device 3 The operation related to the function is stopped (step S76), and the process according to the flowchart is terminated.

  In addition, although the process of said step S72-S75 picked up and demonstrated the example which mainly controls the operation | movement regarding the imaging part 18, it can also be provided with the function with respect to the other input instruction from a user. For example, the processing of steps S22 to S27 described with reference to FIG. 5 and the other processing described in the first embodiment can be similarly realized with the car navigation device 3.

  It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. In particular, the present object identification device can be used not only for vehicles but also for moving objects such as trains, ships, and airplanes. For example, in the case of application to a train, the name of a station existing in the pointing direction can be projected on the front glass.

  The object specifying device according to the present invention can accurately specify an object existing in the direction indicated by the user's hand or finger, and is an in-vehicle input device, a car navigation device, and an in-vehicle device installed in the vehicle. It is useful as an information terminal or the like, and can be installed on a moving body such as a train, a ship, and an aircraft in addition to a vehicle.

1 is a configuration diagram showing a schematic configuration of a car navigation device 1 according to a first embodiment. Schematic diagram showing how a user points an object with a hand or finger The schematic diagram which shows a mode that the pointer P is projected when the user points the hand H through the windshield F ahead of the vehicle C. The flowchart which shows operation | movement of the first half part in the 1st example of the car navigation apparatus 1 of FIG. The flowchart which shows the operation | movement of the second half part in the 1st example of the car navigation apparatus 1 of FIG. The figure for demonstrating an example of the pointing coordinate system and vehicle coordinate system which are used by operation | movement of the car navigation apparatus 1 of FIG. The figure for demonstrating an example of the camera coordinate system used by operation | movement of the car navigation apparatus 1 of FIG. The figure for demonstrating an example of the pointer coordinate system used by operation | movement of the car navigation apparatus 1 of FIG. The flowchart which shows operation | movement of the first half part in the 2nd example of the car navigation apparatus 1 of FIG. The figure which showed typically the operation which specifies a target object using a three-dimensional computer graphic map. The flowchart which shows operation | movement of the first half part in the 3rd example of the car navigation apparatus 1 of FIG. The figure for catching about the 3rd example of operation of car navigation device 1 of Drawing 11 The block diagram which shows the schematic structure of the car navigation apparatus 2 which concerns on 2nd Embodiment. Schematic diagram showing the direction in which the user points the object M with the hand H and the line of sight of the user The schematic diagram which shows a mode that the pointer P is displayed only when the target object with the hand H and the target object in a sight line direction correspond. The block diagram which shows the schematic structure of the car navigation apparatus 3 which concerns on 3rd Embodiment. The flowchart which shows operation | movement of the first half part in the car navigation apparatus 3 of FIG. The flowchart which shows the operation | movement of the second half part in the car navigation apparatus 3 of FIG.

Explanation of symbols

1, 2, 3 ... car navigation device 11 ... control unit 12 ... map information storage unit 13 ... positioning unit 14 ... input unit 15 ... voice output unit 16 ... pointing direction detection unit 17 ... pointing coordinate acquisition unit 18 ... imaging unit 20 ... Image recognition / ranging unit 21 ... Pointer coordinate determination unit 22 ... Display unit 23 ... Gaze direction detection unit 24 ... Gaze coordinate acquisition unit 25 ... Imaging control unit 26 ... Selection unit

Claims (14)

An object specifying device for specifying a position of an object around a vehicle,
A positioning unit that detects the current position of the vehicle and the direction of the vehicle;
An imaging unit for imaging the periphery of the vehicle;
A pointing direction detection unit that detects a pointing direction indicated by a user in the vehicle using his / her hand;
An object extraction unit that extracts an object existing in an instruction direction detected by the pointing direction detection unit from an image captured by the imaging unit;
An object specifying device comprising: an object position specifying unit that specifies a position of an object extracted by the object extracting unit with respect to the vehicle. The imaging unit is composed of at least one camera installed in the vehicle,
The target object specifying device further includes a coordinate conversion unit that converts an indication direction detected by the pointing direction detection unit into an indication direction in a camera coordinate system based on an imaging direction of the camera,
2. The object extraction unit according to claim 1, wherein the object extraction unit extracts, as an object, an object to be imaged captured in an instruction direction converted by the coordinate conversion unit from an image captured by the imaging unit. Object identification device. The imaging unit is composed of a plurality of cameras installed on the vehicle in parallel equiposition,
The object extraction unit extracts a region of a predetermined size imaged in the instruction direction from an image captured by one of the cameras, and performs the instruction by matching the image of the region with an image captured by the other camera. The object to be imaged in the direction is extracted as the object,
The target object specifying unit according to claim 2, wherein the target object position specifying unit calculates the position of the target object with respect to the vehicle based on directions in which a plurality of cameras are respectively imaging the target object. apparatus.   The object extraction unit extracts an image captured in a space surrounded by the designated direction as the designated direction changes in time series as an image of the region. The object specifying device described in 1. The imaging unit is composed of a single camera installed in the vehicle,
The target object specifying device further includes a map information storage unit that stores at least a three-dimensional map near the current position of the vehicle,
The object extraction unit extracts, as an outline of an object, an outline of an object imaged in the indicated direction from an image captured by the camera.
The object position specifying unit specifies the position of an object having a shape matching the contour extracted by the object extraction unit from the three-dimensional map on the three-dimensional map, and calculates the position of the object with respect to the vehicle The object specifying device according to claim 2, wherein: The object specifying device includes:
A display unit that projects an image using at least one glass provided in the vehicle as a display region;
A pointer coordinate determination unit that determines an intersection coordinate between the indication direction detected by the pointing direction detection unit and the glass in which the display area is set;
The object specifying device according to claim 1, further comprising: a display control unit that controls display of a pointer image in a display area on the intersection coordinates determined by the pointer coordinate determination unit. The object specifying device includes:
A display unit that projects an image using at least one glass provided in the vehicle as a display region;
A line-of-sight detection unit that detects a line-of-sight direction of the user in the vehicle;
A pointer coordinate determining unit that determines an intersection coordinate between a straight line connecting the position of the object specified by the object position specifying unit and the user's line of sight and the glass in which the display area is set;
The object specifying device according to claim 1, further comprising: a display control unit that controls display of a pointer image in a display area on the intersection coordinates determined by the pointer coordinate determination unit.   The object specifying device according to claim 6 or 7, further comprising an adjusting unit that adjusts the intersection coordinates determined by the pointer coordinate determining unit according to an instruction from a user. The imaging unit is composed of a plurality of cameras installed in the vehicle,
The object specifying device includes:
A display unit installed in the vehicle;
The apparatus further comprises: a selection unit that selects any one image from images output from the plurality of cameras according to an instruction direction detected by the pointing direction detection unit and displays the selected image on the display unit. The object specifying device according to 1.   The imaging control part which controls the imaging direction of the camera which images the image selected by the selection part so that the object specified by the object position specific part may be imaged in the center of an image, further comprising: The object specifying device described in 1.   An imaging control unit that controls an imaging magnification of a camera that captures an image selected by the selection unit so that the object specified by the object position specifying unit is enlarged or reduced at the center of the image; The object specifying device according to claim 9, comprising: The object specifying device includes:
A map information storage unit for storing at least map information near the current position of the vehicle and information for each region represented by the map;
The information output part which extracts the information regarding the target object which the said target object position specific | specification part specified from the information stored in the said map information storage part, and alert | reports to the user in the said vehicle is further provided. The object specifying device described in 1. The object specifying device includes:
A communication unit capable of communicating via a predetermined network;
A display unit for displaying the information output by the information output unit,
The information output unit obtains information from the information resource via the communication unit when the information stored in the map information storage unit indicates a location of the information resource existing on the network, and displays the display unit. The object specifying device according to claim 12, wherein the object specifying device is displayed. The object specifying device includes:
A map information storage unit for storing at least map information near the current position of the vehicle;
The object specifying device according to claim 1, further comprising: a route search unit configured to search for a route by setting the position of the object specified by the object position specifying unit as a waypoint or a destination.

Images