公开(公告)号：US07110860B2

公开(公告)日：2006-09-19

申请号：US11132573

申请日：2005-05-19

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： G06F19/00

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting device are analyzed, and dividing device for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting device to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在图像的发送和接收的前提下形成的现有系统来有效地发送多个信道的图像数据 数据通过单传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的多路复用图像数据输出到对应的频道 是基于分析结果提供的。

公开(公告)号：US20060195409A1

公开(公告)日：2006-08-31

申请号：US11350048

申请日：2006-02-09

申请人： Kohtaro Sabe ,  Kenichi Hidai

发明人： Kohtaro Sabe ,  Kenichi Hidai

IPC分类号： G06F15/18

CPC分类号： G05B13/0265

摘要： A learning control apparatus for controlling a learning operation of an apparatus sensing a state of an environment and selecting a behavior based on the sensed content, includes a predictor for learning the behavior and a change in the state of the environment, and predicting a change in the state of the environment in response to a predetermined behavior, a goal state setting unit for setting a goal state in the behavior, a planner for planning a behavior sequence from a current state to the goal state set by the goal state setting unit based on a prediction of the predictor, and a controller for controlling the behavior in the behavior sequence planned by the planning unit and learning an input and output relationship in the behavior.

摘要翻译： 一种学习控制装置，用于控制感测环境状态的装置的学习操作，并且基于感测到的内容选择行为，包括用于学习行为和环境状态变化的预测器，以及预测变化 响应于预定行为的环境状态，用于设置行为中的目标状态的目标状态设置单元，用于根据目标状态设置单元基于目标状态设置单元设置的目标状态来规划行为序列的计划器 预测器的预测，以及用于控制由规划单元计划的行为序列中的行为并且学习行为中的输入和输出关系的控制器。

公开(公告)号：US20060195227A1

公开(公告)日：2006-08-31

申请号：US11350825

申请日：2006-02-10

申请人： Kohtaro Sabe ,  Kenichi Hidai

发明人： Kohtaro Sabe ,  Kenichi Hidai

IPC分类号： G06F19/00

CPC分类号： G06N99/005 ,  G05B13/021 ,  G05B13/026 ,  G05B13/0265 ,  G05B13/027

摘要： A behavior control apparatus to control behavior of a device capable of sensing a state of an environment and selecting an action on the basis of a sensing result is provided. The behavior control apparatus includes a predicting unit configured to learn the action and change in the state of the environment and predict change in the state of the environment caused by a predetermined action on the basis of the learning; a planning unit configured to plan a behavior sequence to achieve a goal state from a present state on the basis of the prediction made by the predicting unit; and a control unit configured to control each action of the behavior sequence planed by the planning unit and learn an input/output relationship if the goal state is achieved through the action.

摘要翻译： 提供了一种用于控制能够感测环境状态并且基于感测结果选择动作的装置的行为的行为控制装置。 行为控制装置包括：预测单元，被配置为基于学习来学习环境状态的动作和变化，并且预测由预定动作引起的环境状态的变化; 计划单元，被配置为基于由所述预测单元进行的预测来规划行为序列以从当前状态实现目标状态; 以及控制单元，被配置为控制由规划单元规划的行为序列的每个动作，并且如果通过动作实现目标状态，则学习输入/输出关系。

公开(公告)号：US20050222709A1

公开(公告)日：2005-10-06

申请号：US10515854

申请日：2004-03-24

申请人： Kohtaro Sabe ,  Takeshi Ohashi ,  Kenta Kawamoto

发明人： Kohtaro Sabe ,  Takeshi Ohashi ,  Kenta Kawamoto

IPC分类号： B25J13/08 ,  B62D57/032 ,  G06F19/00

CPC分类号： B62D57/032

摘要： The present invention is applied to, for example, a legged mobile robot and makes it possible to calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.

摘要翻译： 本发明应用于例如腿式移动机器人，并且可以计算到现在与现在的地板接触的机器人装置的一部分与机器人装置的下一部分之间的移动量 使用运动学与地板接触，并且由于地板接触部分之间的切换而将变换切换到用作观测参考的坐标系。

公开(公告)号：US20050131581A1

公开(公告)日：2005-06-16

申请号：US10941813

申请日：2004-09-16

申请人： Kohtaro Sabe ,  Steffen Gutmann

发明人： Kohtaro Sabe ,  Steffen Gutmann

IPC分类号： B25J5/00 ,  B25J13/08 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  G06F19/00

CPC分类号： G06K9/00691 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00201

摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.

摘要翻译： 环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以 使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。 机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别 包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和 路线规划部404，其适于基于环境图来规划路线。 路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

公开(公告)号：US10049325B2

公开(公告)日：2018-08-14

申请号：US13561704

申请日：2012-07-30

申请人： Hideki Shimomura ,  Kenta Kawamoto ,  Kohtaro Sabe

发明人： Hideki Shimomura ,  Kenta Kawamoto ,  Kohtaro Sabe

IPC分类号： G06F15/18 ,  G06N7/00

摘要： Provided is an information processing apparatus including a learning part performing learning of a model of an environment in which an agent performs action, using an observed value observed in the agent when the agent capable of action performs action, an action determining part determining action to be performed by the agent, based on the model, and a user instruction output part outputting instruction information representing an instruction from a user according to the instruction from the user, wherein the action determining part determines the action performed by the agent according to the instruction information when there is an instruction from the user.

公开(公告)号：US08725510B2

公开(公告)日：2014-05-13

申请号：US12829984

申请日：2010-07-02

申请人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

发明人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

IPC分类号： G10L15/14

CPC分类号： G06N99/005

摘要： An HMM (Hidden Markov Model) learning device includes: a learning unit for learning a state transition probability as the function of actions that an agent can execute, with learning with HMM performed based on actions that the agent has executed, and time series information made up of an observation signal; and a storage unit for storing learning results by the learning unit as internal model data including a state-transition probability table and an observation probability table; with the learning unit calculating frequency variables used for estimation calculation of HMM state-transition and HMM observation probabilities; with the storage unit holding the frequency variables corresponding to each of state-transition probabilities and each of observation probabilities respectively, of the state-transition probability table; and with the learning unit using the frequency variables held by the storage unit to perform learning, and estimating the state-transition probability and the observation probability based on the frequency variables.

摘要翻译： HMM（隐马尔可夫模型）学习装置包括：用于学习作为代理可以执行的动作的函数的状态转移概率的学习单元，基于代理已经执行的动作执行的HMM的学习以及作出的时间序列信息 观察信号; 以及存储单元，用于将所述学习单元的学习结果存储为包括状态转换概率表和观察概率表的内部模型数据; 学习单元计算用于HMM状态转换和HMM观察概率的估计计算的频率变量; 存储单元保持状态转移概率表中分别对应于状态转换概率和每个观察概率的频率变量; 并且所述学习单元使用由所述存储单元保持的频率变量来执行学习，并且基于所述频率变量来估计所述状态转换概率和观察概率。

公开(公告)号：US20110305384A1

公开(公告)日：2011-12-15

申请号：US13097288

申请日：2011-04-29

申请人： Kazumi AOYAMA ,  Kohtaro Sabe

发明人： Kazumi AOYAMA ,  Kohtaro Sabe

IPC分类号： G06K9/62

CPC分类号： G06K9/00281 ,  G10L15/25 ,  G10L25/78

摘要： An information processing apparatus includes a first generation unit that generates learning images corresponding to a learning moving image, a first synthesis unit that generates a synthesized learning image such that a plurality of the learning images is arranged at a predetermined location and synthesized, a learning unit that computes a feature amount of the generated synthesized learning image, and performs statistical learning using the feature amount to generate a classifier, a second generation unit that generates determination images, a second synthesis unit that generates a synthesized determination image such that a plurality of the determination images is arranged at a predetermined location and synthesized, a feature amount computation unit that computes a feature amount of the generated synthesized determination image, and a determination unit that determines whether or not the determination image corresponds to a predetermined movement.

摘要翻译： 一种信息处理设备，包括：产生与学习运动图像相对应的学习图像的第一生成单元;生成合成学习图像的第一合成单元，使得多个学习图像被布置在预定位置并合成;第一合成单元， 其计算所生成的合成学习图像的特征量，并且使用特征量进行统计学习以生成分类器，产生确定图像的第二生成单元，生成合成确定图像的第二合成单元， 确定图像被布置在预定位置并被合成，计算所生成的合成确定图像的特征量的特征量计算单元和确定判定图像是否对应于预定移动的确定单元。

公开(公告)号：US20110249863A1

公开(公告)日：2011-10-13

申请号：US13071951

申请日：2011-03-25

申请人： Takeshi OHASHI ,  Kohtaro Sabe

发明人： Takeshi OHASHI ,  Kohtaro Sabe

IPC分类号： G06K9/00

CPC分类号： G06T11/001 ,  G06K9/00234 ,  G06K9/00308 ,  G06T7/11 ,  G06T2207/30201 ,  H04N1/62

摘要： An information processing device includes a face detection unit that detects a face area from a target image, a feature point detection unit that detects a feature point of the detected face area, a determination unit that determines an attention area that is an area to which attention is paid in the face area based on the detected feature point, a reference color extraction unit that extracts a reference color that is color setting obtained from the target image in the determined attention area, an adjustment unit that adjusts the extracted reference color to a color setting for a modified image generated from the target image as a base, and a generation unit that generates the modified image from the target image by drawing the attention area using the color setting for the modified image.

摘要翻译： 一种信息处理装置，包括从目标图像检测面部区域的面部检测单元，检测检测到的面部区域的特征点的特征点检测单元，确定作为关注区域的关注区域的判定单元 基于检测到的特征点在面部区域中支付参考颜色提取单元，提取从所确定的关注区域中的目标图像获得的作为颜色设置的参考颜色的参照颜色提取单元，将提取的参考颜色调整为颜色的调整单元 从作为基准的目标图像生成的修改图像的设置，以及生成单元，其通过使用修改图像的颜色设置绘制注意区域，从目标图像生成修改图像。

公开(公告)号：US07979364B2

公开(公告)日：2011-07-12

申请号：US12357917

申请日：2009-01-22

申请人： Kenichi Hidai ,  Kohtaro Sabe

发明人： Kenichi Hidai ,  Kohtaro Sabe

IPC分类号： G06E1/00 ,  G06F15/18

CPC分类号： G05B13/0265

摘要： A learning control apparatus for an autonomous agent including a functional module having a function of multiple inputs and multiple outputs, the function receiving at least one variable and outputting at least one value, includes an estimating unit for estimating a causal relationship of at least one variable, a grouping unit for grouping at least one variable into a variable group in accordance with the estimated causal relationship, a determining for determining a behavior variable corresponding to each of the variable groups, and a layering unit for layering, in accordance with the variable group and the behavior variable, the function corresponding to each variable group, the function receiving the variable grouped into the variable group and outputting the behavior variable.

摘要翻译： 一种用于包括具有多个输入和多个输出的功能的功能模块的自主代理的学习控制装置，所述功能接收至少一个变量并输出至少一个值，所述学习控制装置包括：估计单元，用于估计至少一个变量 ，分组单元，用于根据估计的因果关系将至少一个变量分组成变量组，确定用于确定与每个可变组相对应的行为变量，以及分层单元，用于根据变量组 和行为变量，对应于每个变量组的函数，接收变量的函数分组到变量组中并输出行为变量。