Abstract: A pedestrian terminal includes: a camera for producing a pedestrian's underfoot images and surrounding view images; a memory for storing ground information including position data and a ground image of each preset record point, and fixture information including feature data and position data of a fixture in a surrounding view image at each record point; and a processor for performing provisional positioning of the pedestrian based on feature data matching between stored feature data of a fixture and that of an object in a captured surrounding view image, to thereby extract ground images of nearby record points as candidates, comparing a candidate with a captured underfoot image for matching, and when a matching ground image to the underfoot image is found, acquires position data of the corresponding record point as the pedestrian's position data.

Abstract: A device includes a camera for capturing shot images of road surfaces; a sensor for detecting a pedestrian’s movement; a memory for storing record information including a shot image at a preset record point in association with position data of the record point; and a processor for performing an image-based positioning operation by predicting a next record point to be reached by the pedestrian based on the pedestrian’s movement status from detection results of the sensor; extracting a shot image(s) from the shot images stored in the memory based on the predicted record point; comparing the extracted shot image with a real time image captured by the camera for matching; and acquiring the position data of the record point associated with the matching shot image as the position data of the pedestrian’s current position.