公开(公告)号：US07277559B2

公开(公告)日：2007-10-02

申请号：US10702478

申请日：2003-11-07

申请人： Shinichi Matsunaga ,  Nobuo Higaki

发明人： Shinichi Matsunaga ,  Nobuo Higaki

IPC分类号： G06K9/00 ,  H04N13/02

CPC分类号： G05D1/0251 ,  B25J5/00 ,  B25J9/1676 ,  G05D1/0274 ,  G05D2201/0211

摘要： A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.

摘要翻译： 提供了一种移动装置，其包括多个成像装置，用于测量成像装置的当前位置和方向的测量装置，地图数据存储部分，其存储至少包括关于静止物体的位置的登记信息的地图数据， 获取多个图像的视差的识别距离计算部，计算从成像装置到各静止物体的前方边界的基准距离的基准距离计算部，确定图像处理范围的缩回部， 要处理的像素的集合以产生缩回图像，用于从缩回图像中检测对象的检测部分，传送装置和传送控制器，用于根据关于由所述缩回图像检测到的对象的信息来控制传送装置的移动 检测部分。

公开(公告)号：US20070165931A1

公开(公告)日：2007-07-19

申请号：US11634315

申请日：2006-12-06

申请人： Nobuo Higaki

发明人： Nobuo Higaki

IPC分类号： G06K9/00

CPC分类号： G06K9/00362 ,  G06K9/00201 ,  G06K9/00228 ,  G06T7/251 ,  G06T2207/10004 ,  G06T2207/30196

摘要： A human being detection apparatus includes a moving object detecting part for detecting a target region from the picture image as a region of the moving object and a target distance as a distance to the moving object, a head region setting part for setting the head region corresponding to the target distance, a sample storing image part for storing a sample image having a predetermined size corresponding to the head region of the human being, and a human being determining part for determining whether or not the moving object is a human being by comparing the head region in the picture image converted to have a predetermined size with the sample image.

摘要翻译： 人体检测装置包括：运动物体检测部分，用于从作为移动物体的区域的图像图像检测目标区域和作为到运动物体的距离的目标距离;头部区域设置部分，用于将头部区域对应 与目标距离相对应的样本存储图像部分，用于存储与人的头部区域相对应的具有预定尺寸的样本图像;以及人类确定部分，用于通过比较所述移动物体是否是人类来确定移动物体是否是人类 图像中的头部区域被转换为具有样本图像的预定大小。

公开(公告)号：US20060126941A1

公开(公告)日：2006-06-15

申请号：US11301117

申请日：2005-12-13

申请人： Nobuo Higaki

发明人： Nobuo Higaki

IPC分类号： G06K9/46 ,  G06K9/00

CPC分类号： G06K9/00234 ,  G06K9/00201 ,  G06K9/00369 ,  G06T7/11 ,  G06T7/136 ,  G06T7/254 ,  G06T2207/30201

摘要： The invention provides a face region estimating device capable of extracting a person's face region even when an illumination environment, for example, is changed and persons with different skin colors are contained in a picked-up image taken by a camera. The face region estimating device includes: a mobile body detecting unit for extracting the outline of a mobile body from the picked-up image and for generating an object distance image composed of pixels corresponding to a distance in which the mobile body exists; a head region setting unit for setting a head region based on the pixel distribution in the object distance image corresponding to a predetermined range on the basis of a pixel position at the upper part of the outline; and a face region extracting unit for extracting the person's face region from the picked-up image based on the color distribution in the picked-up image corresponding to the head region.

摘要翻译： 本发明提供一种即使在照相机拍摄的拍摄图像中例如改变照明环境并且具有不同肤色的人被包含的人也能够提取人脸部区域的面部区域估计装置。 面部区域估计装置包括：移动体检测单元，用于从拍摄图像中提取移动体的轮廓，并且生成由与移动体存在的距离对应的像素构成的物体距离图像; 一个头部区域设置单元，用于根据轮廓上部的像素位置，根据与预定范围对应的物体距离图像中的像素分布来设置头部区域; 以及面部区域提取单元，用于根据与头部区域对应的拍摄图像中的颜色分布，从拍摄图像中提取人脸部区域。

公开(公告)号：US20050180611A1

公开(公告)日：2005-08-18

申请号：US10965919

申请日：2004-10-18

申请人： Takahiro Oohashi ,  Naoaki Sumida ,  Nobuo Higaki

发明人： Takahiro Oohashi ,  Naoaki Sumida ,  Nobuo Higaki

IPC分类号： G06T7/00 ,  G06K9/00 ,  G06K9/62 ,  G06T1/00

CPC分类号： G06K9/00248 ,  G06K9/00234 ,  G06K9/00261

摘要： A face identification apparatus for identifying a face is designed to have a face region expectation measure for expecting his/her face region within the image; a pupil-candidate-point detection measure for converting the face region to an image of a standard size, making it a standard image, and detecting his/her right/left pupil candidate points out of a search region within the standard image; a reference data generation measure for generating a normalization image from the standard image with making it a standard a distance of the right/left pupil candidate points and making reference data for evaluating advisability of the face region from the normalization image; and a face region evaluation measure for obtaining a degree of approximation between the reference data and standard data prepared in advance and evaluating the advisability of the face region.

摘要翻译： 用于识别脸部的面部识别装置被设计为具有用于期望他/她的脸部区域在图像内的面部区域期望度量; 用于将脸部区域转换为标准尺寸的图像的瞳孔候选点检测措施，使其成为标准图像，并且从标准图像内的搜索区域检测他/她的右/左瞳孔候选点; 参考数据生成措施，用于从所述标准图像生成标准化图像，使其成为所述右/左瞳孔候选点的标准距离，并且从所述标准化图像中提取用于评估所述面部区域的可取性的参考数据; 以及面部区域评价措施，用于获得参考数据和预先准备的标准数据之间的近似度，并评估面部区域的可取性。

公开(公告)号：US20050147277A1

公开(公告)日：2005-07-07

申请号：US11015796

申请日：2004-12-20

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G06K9/00 ,  G06K9/62 ,  G06T7/20

CPC分类号： G06K9/00362 ,  G06T7/251 ,  G06T7/254 ,  G06T7/285 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30196

摘要： The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.

摘要翻译： 本发明通过从包括对象图像和轮廓的视频图像生成运动对象的距离信息，检测对象运动，确定对象距离，检测对象图像区域和对象轮廓来检测移动对象，并且提供 移动物体检测装置，通过以高精度检测移动物体的中心，进行这种检测以及检测特定移动物体的轮廓。

公开(公告)号：US20050102440A1

公开(公告)日：2005-05-12

申请号：US11009607

申请日：2004-12-08

申请人： Nobuo Higaki ,  Tetsuya Tanaka ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura

发明人： Nobuo Higaki ,  Tetsuya Tanaka ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura

IPC分类号： G06F9/38 ,  G06F3/00 ,  G06F9/46 ,  G06F9/48 ,  G06F13/28 ,  G06F15/16 ,  G06F15/167 ,  G06F15/80

CPC分类号： G06F9/4843

摘要： A circuit group control system which receives from a master processor a first command sequence and a second command sequence each of which is composed of a plurality of commands, each command being to be executed by one of a plurality of circuits, and causes any available circuits to execute the commands one by one in order of arrangement in each command sequence. The circuit group control system achieves concurrent execution of a plurality of command sequences by causing a circuit (a second circuit) to execute a command in the second command sequence while another circuit (a first circuit) is executing another command in the first command sequence.

公开(公告)号：US06834336B2

公开(公告)日：2004-12-21

申请号：US10155672

申请日：2002-05-24

申请人： Shuichi Takayama ,  Nobuo Higaki

发明人： Shuichi Takayama ,  Nobuo Higaki

IPC分类号： G06F9318

CPC分类号： G06F9/3822 ,  G06F9/30145 ,  G06F9/30149 ,  G06F9/30163 ,  G06F9/30167 ,  G06F9/30181 ,  G06F9/383 ,  G06F9/3853

摘要： A 32-bit instruction 50 is composed of a 4-bit format field 51, a 4-bit operation field 52, and two 12-bit operation fields 59 and 60. The 4-bit operation field 52 can only include (1) an operation code “cc” that indicates a branch operation which uses a stored value of the implicitly indicated constant register 36 as the branch address, or (2) a constant “const”. The content of the 4-bit operation field 52 is specified by a format code provided in the format field 51.

摘要翻译： 32位指令50由4位格式字段51，4位操作字段52和2位12位操作字段59和60组成.4位操作字段52只能包括（1） 指示使用隐含指示的常数寄存器36的存储值作为分支地址的分支操作的操作代码“cc”，或者（2）常数“const”。 4位操作字段52的内容由格式字段51中提供的格式代码指定。

公开(公告)号：US06804396B2

公开(公告)日：2004-10-12

申请号：US09820130

申请日：2001-03-28

申请人： Nobuo Higaki ,  Yuichi Yoshida ,  Kikuo Fujimura

发明人： Nobuo Higaki ,  Yuichi Yoshida ,  Kikuo Fujimura

IPC分类号： G06K900

CPC分类号： G06K9/00335 ,  B25J11/0005 ,  B25J13/003 ,  G06F3/017 ,  G06F3/167 ,  G10L15/26

摘要： The present invention provides a system for recognizing gestures made by a moving subject. The system comprises a sound detector for detecting sound, one or more image sensors for capturing an image of the moving subject, a human recognizer for recognizing a human being from the image captured by said one or more image sensors, and a gesture recognizer, activated when human voice is identified by said sound detector, for recognizing a gesture of the human being. In a preferred embodiment, the system includes a hand recognizer for recognizing a hand of the human being. The gesture recognizer recognizes a gesture of the human being based on movement of the hand identified by the hand recognizer. The system may further include a voice recognizer that recognizes human voice and determines words from human voice input to the sound detector. The gesture recognizer is activated when the voice recognizer recognizes one of a plurality of predetermined keywords such as “hello!”, “bye”, and “move”.

摘要翻译： 本发明提供了一种用于识别由移动的被摄体制作的手势的系统。 该系统包括用于检测声音的声音检测器，用于捕获移动被摄体的图像的一个或多个图像传感器，用于从由所述一个或多个图像传感器捕获的图像中识别人的人类识别器，以及手势识别器，被激活 当由所述声音检测器识别人声时，用于识别人的手势。在优选实施例中，该系统包括用于识别人的手的手识别器。 手势识别器基于由手识别器识别的手的移动来识别人的手势。 该系统还可以包括语音识别器，其识别人类语音并且确定从人声输入到声音检测器的单词。 当语音识别器识别诸如“你好”，“再见”和“移动”的多个预定关键字之一时，手势识别器被激活。

公开(公告)号：US06606703B2

公开(公告)日：2003-08-12

申请号：US09756068

申请日：2001-01-08

申请人： Shuichi Takayama ,  Kensuke Odani ,  Akira Tanaka ,  Nobuo Higaki ,  Masato Suzuki ,  Tetsuya Tanaka ,  Taketo Heishi ,  Shinya Miyaji

发明人： Shuichi Takayama ,  Kensuke Odani ,  Akira Tanaka ,  Nobuo Higaki ,  Masato Suzuki ,  Tetsuya Tanaka ,  Taketo Heishi ,  Shinya Miyaji

IPC分类号： G06F1500

CPC分类号： G06F9/30058 ,  G06F8/447 ,  G06F9/30021 ,  G06F9/30072 ,  G06F9/30094 ,  G06F9/30145 ,  G06F9/30167 ,  G06F9/30181 ,  G06F9/3842

摘要： Processor and instruction conversion apparatus, including a technique for reducing the number of types of instructions and processor hardware scale when conditional instructions are used. The processor includes a stare hold unit, an obtaining unit, a decoding unit, a judging unit, and an execution unit. The judging unit judges whether a state hold unit renewal state is included in either of the state and the plurality of states specified by the first state condition in the first conditional instruction when decoded by the decoding unit. When the judgment is affirmative, the execution unit executes an operation specified by the operation code in the first conditional instruction decoded by the decoding unit. The instruction set is assigned first conditional instructions with a first state condition which is mutually exclusive with a second state condition for an unassigned second conditional instruction, both having the same operation code.

摘要翻译： 处理器和指令转换装置，包括当使用条件指令时减少指令类型数量和处理器硬件比例的技术。 处理器包括凝视保持单元，获取单元，解码单元，判断单元和执行单元。 当由解码单元解码时，判断单元判断状态保持单元更新状态是否包括在第一条件指令中由第一状态条件指定的状态和多个状态中的任一状态。 当判断为肯定时，执行单元执行由解码单元解码的第一条件指令中由操作码指定的操作。 指令集被分配具有第一状态条件的第一条件指令，该第一状态条件与用于未分配的第二条件指令的第二状态条件相互排斥，所述第二状态条件具有相同的操作代码。

公开(公告)号：US06282632B1

公开(公告)日：2001-08-28

申请号：US09143943

申请日：1998-08-31

申请人： Nobuo Higaki ,  Tetsuya Tanaka ,  Shuichi Takayama

发明人： Nobuo Higaki ,  Tetsuya Tanaka ,  Shuichi Takayama

IPC分类号： G66F900

CPC分类号： G06F9/30021 ,  G06F9/30058 ,  G06F9/30094

摘要： The processor according to the present invention includes a flag register that stores a first flag group and a second flag group. The second flag group includes the same operation flags (a carry flag and an overflow flag) as the first flag group. The processor executes first-type instructions and second-type instructions. The first-type instruction instructs to perform an operation and to update the first flag group according to the result of the operation. The second-type instruction instructs to perform an operation different from the operation in the first-type instruction and updates the second flag group according to the result of the operation.

摘要翻译： 根据本发明的处理器包括存储第一标志组和第二标志组的标志寄存器。 第二标志组包括与第一标志组相同的操作标志（进位标志和溢出标志）。 处理器执行第一类指令和第二类指令。 第一类型指令指示执行操作并根据操作结果来更新第一标志组。 第二类型指令指示执行与第一类型指令中的操作不同的操作，并根据操作结果更新第二标志组。