Patent ID: 8195386

Claim:
A movable-body navigation information display method comprising the steps of: detecting a current position of a movable body, and capturing a real picture with an object of a landscape including a road in a traveling direction of the movable body by an in-vehicle camera set in the movable body; reading navigation information on travel of the movable body corresponding to the detected current position of the movable body from navigation information previously stored in association with road map data; creating a road shape model of a road assumed to be captured from the current position, based on the current position of the movable body and the road map data; extracting road shape data as image data of the road included in the landscape from the real picture; converting the road shape data to image data in a perspective two-dimensional characteristics space and the data of the road shape model to image data in the perspective two-dimensional characteristics space; obtaining an existence probability of a road white line included in the landscape from the real picture and calculating an RSL value by using a road look-up table (RSL); matching the two-dimensional road shape data with the two-dimensional data of the road shape model in the two-dimensional characteristics space so that an evaluation value based on the RSL value becomes the maximum, and thereby estimating the posture data of the in-vehicle camera or the movable body to the road as the object; determining a display position in the captured real picture of the navigation information read according to the current position of the movable body based on the posture data; and displaying an image in which the read navigation information is composited with display dimensions and tone set by a user in the determined position in the captured real picture.