公开(公告)号：US07707128B2

公开(公告)日：2010-04-27

申请号：US10592954

申请日：2005-03-16

申请人： Masakazu Matsugu

发明人： Masakazu Matsugu

IPC分类号： G06T1/20 ,  G06K9/20 ,  G06K9/36 ,  G06K9/46

CPC分类号： G06N3/049 ,  G06K9/4628

摘要： In a parallel pulse signal processing apparatus including a plurality of pulse output arithmetic elements (2), a plurality of connection elements (3) which parallelly connect predetermined arithmetic elements, and a gate circuit (5) which selectively passes pulse signals from the plurality of connection elements, the arithmetic element inputs a plurality of time series pulse signals, executes predetermined modulation processing on the basis of the plurality of time series pulse signals which are input, and outputs a pulse signal on the basis of a result of modulation processing, wherein the gate circuit selectively passes, of the signals from the plurality of connection elements, a finite number of pulse signals corresponding to predetermined upper output levels.

摘要翻译： 在包括多个脉冲输出运算元件（2）的并行脉冲信号处理装置中，并联连接预定运算元件的多个连接元件（3）和选择性地从多个脉冲输出运算元件 连接元件，算术元件输入多个时间序列脉冲信号，基于输入的多个时间序列脉冲信号来执行预定的调制处理，并且基于调制处理的结果输出脉冲信号，其中 门电路选择性地将来自多个连接元件的信号通过对应于预定上限输出电平的有限数量的脉冲信号。

公开(公告)号：US07274819B2

公开(公告)日：2007-09-25

申请号：US10156942

申请日：2002-05-30

申请人： Masakazu Matsugu

发明人： Masakazu Matsugu

IPC分类号： G06K9/00

CPC分类号： G06K9/4628 ,  G06K9/00281 ,  G06K9/00986

摘要： In a pattern recognition apparatus, a local area recognition module is constructed with operation elements having predetermined operation characteristics. Pattern data of a predetermined size in input data is acquired by time-sequentially performing inputting process at a plurality of times via a local area scanning unit, and information indicating the position of pattern data in the input data is output. The local area recognition module detects a feature of a predetermined middle-order or high-order category from the pattern data. A consolidation module time-sequentially consolidates outputs from the local area recognition module on the basis of the position information and the category of the feature thereby producing feature detection map information. A judgment unit outputs position information and category information of a high-order feature present in the input data, on the basis of the output from the time-sequential consolidation module.

摘要翻译： 在图案识别装置中，由具有预定操作特性的操作元件构成局部区域识别模块。 输入数据中的预定尺寸的图形数据通过经由局部区域扫描单元多次通过时间顺序地执行输入处理来获取，并且输出指示输入数据中的图案数据位置的信息。 局部区域识别模块根据图案数据检测预定的中间或高阶类别的特征。 合并模块根据位置信息和特征类别对来自局部区域识别模块的输出进行时间顺序合并，从而产生特征检测图信息。 判断单元根据时序合并模块的输出输出输入数据中存在的高阶特征的位置信息和类别信息。

公开(公告)号：US5327221A

公开(公告)日：1994-07-05

申请号：US919380

申请日：1992-07-29

申请人： Kenji Saitoh ,  Masakazu Matsugu ,  Shigeyuki Suda ,  Yukichi Niwa ,  Ryo Kuroda ,  Noriyuki Nose ,  Minoru Yoshii ,  Naoto Abe ,  Mitsutoshi Ohwada

发明人： Kenji Saitoh ,  Masakazu Matsugu ,  Shigeyuki Suda ,  Yukichi Niwa ,  Ryo Kuroda ,  Noriyuki Nose ,  Minoru Yoshii ,  Naoto Abe ,  Mitsutoshi Ohwada

IPC分类号： G03F9/00 ,  G01B9/02

CPC分类号： G03F9/7023 ,  G03F9/7049

摘要： A device for detecting the positional relationship between first and second objects in a predetermined direction includes a light source for emitting light in a direction to the first or second object, and a first detecting portion for detecting the position of incidence of a first light deflected by the first and second objects, wherein the position of incidence of the first light upon the first detecting portion is changeable with a change in the positional relationship between the first and second objects in the predetermined direction. A second detecting portion detects the position of incidence of a second light deflected by at least one of the first and second objects, wherein the state of the position of incidence of the second light resulting from a change in the positional relationship between the first and second objects, in the predetermined direction differs from that of the first light. On the basis of the detection by the first and second detecting portions, the positional relationship between the first and second objects is detected without being affected by an inclination thereof.

摘要翻译： 一种用于检测在预定方向上的第一和第二物体之间的位置关系的装置包括：用于沿与第一或第二物体的方向发射光的光源;以及第一检测部分，用于检测第一和第二物体偏转的第一光的入射位置 第一和第二物体，其中在第一检测部分上的第一光的入射位置随预定方向上第一和第二物体之间的位置关系的改变而改变。 第二检测部分检测由第一和第二物体中的至少一个偏转的第二光的入射位置，其中由第一和第二物体之间的位置关系的变化引起的第二光的入射位置的状态 在预定方向上的物体与第一光不同。 基于第一和第二检测部分的检测，检测第一和第二物体之间的位置关系，而不受其倾斜的影响。

公开(公告)号：US5225892A

公开(公告)日：1993-07-06

申请号：US939429

申请日：1992-09-04

申请人： Masakazu Matsugu ,  Kenji Saito ,  Jun Hattori

发明人： Masakazu Matsugu ,  Kenji Saito ,  Jun Hattori

IPC分类号： G03F9/00

CPC分类号： G03F9/7076

摘要： Disclosed is a method of detecting relative positional deviation of a first object with a first grating pattern having an optical power and a second object with a second grating mark having an optical power. Light diffracted by both the first and second grating marks forms a light pattern on a predetermined plane; wherein different diffraction beams of the light diffracted by both the first and second grating marks are displaceable along the predetermined plane in accordance with the relative positional deviation of the first and second objects, in the same direction and by substantially the same quantity; and the relative positional deviation of the first and second objects is detected on the basis of the position of the light pattern on the predetermined plane.

摘要翻译： 公开了一种利用具有光功率的第一光栅图案检测第一物体的相对位置偏差的方法和具有光焦度的第二光栅标记的第二物体的方法。 由第一和第二光栅标记二者衍射的光在预定平面上形成光图案; 其中由所述第一和第二光栅标记二者衍射的光的不同衍射光束沿着所述第一和第二物体的相对位置偏移沿着相同的方向和大致相同的数量沿所述预定平面位移; 并且基于在所述预定平面上的光图案的位置来检测第一和第二物体的相对位置偏差。

公开(公告)号：US09852159B2

公开(公告)日：2017-12-26

申请号：US13375448

申请日：2010-06-15

申请人： Hiroto Yoshii ,  Masakazu Matsugu

发明人： Hiroto Yoshii ,  Masakazu Matsugu

IPC分类号： G06F17/30 ,  G06K9/46 ,  G06K9/62 ,  G06T7/33

CPC分类号： G06F17/3028 ,  G06K9/4642 ,  G06K9/6202 ,  G06K9/6255 ,  G06K9/6282 ,  G06K9/6292 ,  G06T7/337 ,  G06T2207/20021 ,  G06T2207/20081

摘要： An image recognition apparatus is provided which comprises a first extracting means for extracting, from every registration image previously registered, a set of registration partial images of a predetermined size, and a second extracting means for extracting, from an input new image, a set of new partial images of a predetermined size. The apparatus further comprises a discriminating means for discriminating an attribute of the new partial image based on a rule formed by dividing the set of the registration partial images extracted by the first extracting means, and a collecting means for deriving a final recognition result of the new image by collecting discrimination results by the discriminating means at the time when the new partial images as elements of the set of the new partial images are input.

公开(公告)号：US09697441B2

公开(公告)日：2017-07-04

申请号：US13451817

申请日：2012-04-20

申请人： Yusuke Mitarai ,  Masakazu Matsugu

发明人： Yusuke Mitarai ,  Masakazu Matsugu

IPC分类号： G06K9/62

CPC分类号： G06K9/6231 ,  G06K9/6285 ,  G06T2207/20081

摘要： A feature selection apparatus, which selects features to be used to discriminate an object by a discriminator using learning data including the object, extracts a plurality of partial data from the learning data, and obtains discrimination values obtained by controlling the discriminator to process the plurality of extracted partial data as features of the plurality of partial data. The feature selection apparatus evaluates the obtained features based on discrimination degrees on a discrimination space defined by the discriminator, and selects features to be used to discriminate the object from a plurality of features obtained in association with the plurality of partial data based on an evaluation result.

公开(公告)号：US09429418B2

公开(公告)日：2016-08-30

申请号：US13580560

申请日：2011-02-22

申请人： Yusuke Mitarai ,  Masakazu Matsugu ,  Hiroto Yoshii

发明人： Yusuke Mitarai ,  Masakazu Matsugu ,  Hiroto Yoshii

IPC分类号： G06K9/00 ,  G01B11/03 ,  G01B11/26 ,  G06T15/20 ,  G06T7/00

CPC分类号： G01B11/03 ,  G01B11/26 ,  G06T7/73 ,  G06T15/205 ,  G06T2207/30204 ,  G06T2207/30244

摘要： A multi view-point image composed of a great number of images according to a shape of an object is generated or an information processing method used for generating a three-dimensional model or performing image processing of arbitrary view-point object recognition is provided, and based on a plurality of captured images obtained by imaging of the object from a plurality of view points by an imaging means, a relative position and orientation with respect to the object relative to the imaging means for each of the plurality of view points is calculated, and based on the calculated plurality of relative positions and orientations, a missing position and orientation of the imaging means in a direction in which imaging by the imaging means is missing is calculated, and an image used for displaying the calculated missing position and orientation on a display means is generated.

摘要翻译： 产生由根据对象的形状的大量图像构成的多视点图像，或者提供用于生成三维模型或执行任意视点对象识别的图像处理的信息处理方法，以及 基于通过成像装置对来自多个视点的对象进行成像而获得的多个捕获图像，计算出多个视点中的每一个相对于成像装置相对于物体的相对位置和取向， 并且基于计算出的多个相对位置和取向，计算成像装置在由成像装置的成像缺失的方向上的缺失位置和取向，并且将用于显示所计算的丢失位置和取向的图像 生成显示装置。

公开(公告)号：US09118823B2

公开(公告)日：2015-08-25

申请号：US13290263

申请日：2011-11-07

申请人： Yoshinori Ito ,  Masakazu Matsugu

发明人： Yoshinori Ito ,  Masakazu Matsugu

IPC分类号： H04N5/222 ,  G06T19/20 ,  B25J9/16 ,  H04N5/225

CPC分类号： H04N5/2251 ,  B25J9/16 ,  G06T19/20 ,  H04N5/2226

摘要： An image generation apparatus comprises: a first-image obtaining unit adapted to obtain an image obtained by causing an image capturing unit to capture the grip unit controlled so as to place the target object in one predetermined orientation of a plurality of predetermined orientations with respect to the image capturing unit and the target object in the one predetermined orientation as a grip-state image; a second-image obtaining unit adapted to obtain, as a non-grip-state image corresponding to the one predetermined orientation, an image of the grip unit that does not grip the target object and is placed in a predetermined orientation coincident with the orientation controlled to place the target object in the one predetermined orientation; and an image generation unit adapted to generate a target object image including only the target object for the one predetermined orientation based on a difference between the grip-state image and the non-grip-state image.

摘要翻译： 一种图像生成装置包括：第一图像获取单元，其适于获得通过使图像捕获单元捕获被控制的手柄单元获得的图像，以将目标对象相对于多个预定取向的一个预定取向放置 所述图像拍摄单元和所述目标对象在所述一个预定取向中作为握持状态图像; 第二图像获取单元，适于获取与所述一个预定取向相对应的非握持状态图像，所述握持单元的图像不夹持所述目标对象并且被放置在与所述取向控制的一致的预定方向上 将目标对象放置在一个预定方位上; 以及图像生成单元，其适于基于所述握持状态图像和所述非握持状态图像之间的差异来生成仅包括所述一个预定取向的所述目标对象的目标对象图像。

公开(公告)号：US09087265B2

公开(公告)日：2015-07-21

申请号：US13030956

申请日：2011-02-18

申请人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

发明人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

IPC分类号： G06K9/00 ,  G06K9/46 ,  G01B11/00

CPC分类号： G06K9/4661 ,  G01B11/00

摘要： A recognition apparatus for recognizing a position and an orientation of a target object, inputs a captured image of the target object captured by an image capturing apparatus; detects a plurality of feature portions from the captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; inputs property information indicating respective physical properties in the plurality of feature portions on the target object; inputs illumination information indicating an illumination condition at the time of capturing the captured image; determines respective degrees of importance of the plurality of extracted feature amounts based on the respective physical properties indicated by the property information and the illumination condition indicated by the illumination information; and recognizes the position and the orientation of the target object based on the plurality of feature amounts and the respective degrees of importance thereof.

摘要翻译： 用于识别目标对象的位置和取向的识别装置输入由图像捕获装置捕获的目标对象的拍摄图像; 从捕获的图像中检测多个特征部分，并且提取指示多个特征部分中的每一个中的图像特征的多个特征量; 输入表示所述目标物体上的所述多个特征部中的各物理属性的属性信息; 输入指示拍摄图像时的照明条件的照明信息; 基于由所述属性信息和由所述照明信息指示的照明条件指示的各个物理属性来确定所述多个提取的特征量的各自的重要程度; 并且基于多个特征量及其各自的重要程度来识别目标对象的位置和取向。

公开(公告)号：US08862267B2

公开(公告)日：2014-10-14

申请号：US12682242

申请日：2008-09-26

申请人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

发明人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1612 ,  B25J9/1697 ,  G05B2219/39391 ,  G05B2219/39568 ,  G05B2219/40032 ,  G05B2219/40087

摘要： A gripping apparatus comprises an information acquisition unit (A 311, A315, A301) configured to acquire information about a position and orientation of an object (23) to be gripped by a gripper (12), a movement path generating unit (A610) configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state, and a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.

摘要翻译： 夹持装置包括：信息获取单元（A 311，A315，A301），被配置为获取关于被夹持器（12）夹持的物体（23）的位置和方向的信息;移动路径生成单元（A610） 基于所获取的信息获取适于夹持物体的目标状态，并且生成夹持器朝向目标状态的移动路径，以及控制器，其构造成沿着所产生的移动路径移动夹持器，并使夹持器夹持 目的。