公开(公告)号：US07657085B2

公开(公告)日：2010-02-02

申请号：US11089229

申请日：2005-03-24

申请人： Kohtaro Sabe ,  Kenichi Hidai

发明人： Kohtaro Sabe ,  Kenichi Hidai

IPC分类号： G06K9/62 ,  G05B13/02

CPC分类号： G06K9/00248 ,  G06K9/6217 ,  G06K9/6256 ,  G06K9/6282

摘要： In an information processing apparatus, such as an image processing apparatus, positive samples and negative samples are learned by a number of weak classifiers. During learning by the weak classifiers, a value of weighted majority is calculated as a sum of products of the results of classification by the respective weak classifiers and associated weights, and a learning threshold is also calculated. When the number of negative samples is greater than or equal to one half of the number of positive samples, negative samples for which the value of weighted majority is less than the learning threshold are removed.

摘要翻译： 在诸如图像处理装置的信息处理装置中，由许多弱分类器学习正样本和负样本。 在弱分类器的学习期间，加权多数的值被计算为相应弱分类器和关联权重的分类结果的乘积之和，并且还计算学习阈值。 当阴性样本的数量大于或等于阳性样本数量的一半时，取消加权多数值小于学习阈值的负样本。

公开(公告)号：US07630525B2

公开(公告)日：2009-12-08

申请号：US11089932

申请日：2005-03-25

申请人： Kohtaro Sabe ,  Kenichi Hidai

发明人： Kohtaro Sabe ,  Kenichi Hidai

IPC分类号： G06K9/00 ,  G06K9/62

CPC分类号： G06K9/6256 ,  G06K9/00248 ,  G06K9/6282

摘要： In an information processing apparatus, such as a robot that discriminates human faces, nodes are hierarchically arranged in a tree structure. Each of the nodes has a number of weak classifiers. Each terminal node learns face images associated with one label. An upper node learns learning samples of all labels learned by lower nodes. When a window image to be classified is input, discrimination is performed sequentially from upper nodes to lower nodes. When it is determined that the window image does not correspond to a human face, discrimination by lower nodes is not performed, and discrimination proceeds to sibling nodes.

摘要翻译： 在诸如识别人脸的机器人等信息处理装置中，以树结构分层地布置节点。 每个节点都有一些弱分类器。 每个终端节点学习与一个标签相关联的脸部图像。 上级节点学习下层节点学习的所有标签的学习样本。 当输入要分类的窗口图像时，从上层节点到下层节点依次进行鉴别。 当确定窗口图像不对应于人脸时，不执行下位节点的鉴别，并且歧视进行到兄弟节点。

公开(公告)号：US07418312B2

公开(公告)日：2008-08-26

申请号：US10934366

申请日：2004-09-07

申请人： Kenichi Hidai ,  Kohtaro Sabe

发明人： Kenichi Hidai ,  Kohtaro Sabe

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： An object of the present invention is to provide a robot apparatus and a walking control method thereof capable of changing walking control modes in accordance with floor surfaces by discriminating states of the floor surfaces for walking without modifying a step-based walking schedule and capable of providing stable walking even if floor surface states change greatly.A robot apparatus comprises: an action control section 11 to output a walking start instruction; a floor surface discrimination section 12 to discriminate a category for a current floor surface; and a walking control section 13 to compute an adaptive operation amount. The walking control section 13 obtains sensor values of a foot sole sensor and the like from the current floor surface by means of an in-place stepping motion and the like. Based on the sensor value, the walking control section 13 computes the adaptive operation amount as a correction amount from a standard gait model. The floor surface discrimination section 12 performs pattern recognition for the adaptive operation amount to discriminate the category for the current floor surface. The walking control section 13 is supplied with the floor surface category and selects an optimum walking model for the floor surface category. Again from the sensor value, the walking control section 13 computes the adaptive operation amount as a correction amount for the sensor value and provides walking control accordingly.

摘要翻译： 本发明的目的是提供一种机器人装置及其行走控制方法，其能够通过区分用于行走的地板表面的状态来改变与地板表面相应的步行控制模式，而无需修改基于步进的步行时间表，并且能够提供 即使地板表面状态发生很大变化，也能稳定地行走。 机器人装置包括：动作控制部11，输出步行开始指示; 用于区分当前地板表面的类别的地板表面鉴别部分12; 以及步行控制部13，计算自适应动作量。 步行控制部13通过就地步进动作等从当前的地面获得足底传感器等的传感器值。 基于传感器值，步行控制部13根据标准步态模型计算自适应操作量作为校正量。 地板面判别部12对自适应操作量进行模式识别，以区分当前地面的种类。 行走控制部13被提供有地板表面类别，并且选择用于地板表面类别的最佳步行模型。 从传感器值再次，步行控制部13计算自适应操作量作为传感器值的校正量，并相应地提供步行控制。

公开(公告)号：US20060190156A1

公开(公告)日：2006-08-24

申请号：US11347227

申请日：2006-02-06

申请人： Kenichi Hidai ,  Kohtaro Sabe

发明人： Kenichi Hidai ,  Kohtaro Sabe

IPC分类号： G06F17/00

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。

公开(公告)号：US20050280809A1

公开(公告)日：2005-12-22

申请号：US10994942

申请日：2004-11-22

申请人： Kenichi Hidai ,  Kohtaro Sabe ,  Kenta Kawamoto

发明人： Kenichi Hidai ,  Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G06T1/00 ,  G06K9/00 ,  G06K9/62 ,  G06K9/68 ,  G06N3/08 ,  G06T7/00 ,  G01N21/00

CPC分类号： G06K9/6282 ,  G06K9/00248 ,  G06K9/6256

摘要： An object detecting device 1 comprises a scaling section 3 for generating scaled images by scaling down a gradation image input from an image output section 2, a scanning section 4 for sequentially manipulating the scaled images and cutting out window images from them and a discriminator 5 for judging if each window image is an object or not. The discriminator 5 includes a plurality of weak discriminators that are learnt in a group by boosting and an adder for making a weighted majority decision from the outputs of the weak discriminators. Each of the weak discriminators outputs an estimate telling the likelihood of a window image to be an object or not by using the difference of the luminance values of two pixels. The discriminator 5 suspends the operation of computing estimates for a window image that is judged to be a non-object, using a threshold value that is learnt in advance.

摘要翻译： 对象检测装置1包括：缩放部分3，用于通过缩小从图像输出部分2输入的灰度图像来生成缩放图像;扫描部分4，用于顺序地操纵缩放图像并从中切出窗口图像;以及鉴别器5， 判断每个窗口图像是否为一个对象。 鉴别器5包括通过升压在一组中学习的多个弱识别器和用于从弱识别器的输出进行加权多数决定的加法器。 每个弱识别器通过使用两个像素的亮度值的差异来输出估计窗口图像成为对象的可能性的估计。 鉴别器5使用预先学习的阈值来暂停对被判断为非对象的窗口图像的计算估计的操作。

公开(公告)号：US20050267636A1

公开(公告)日：2005-12-01

申请号：US11137081

申请日：2005-05-25

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： B25J5/00 ,  B25J9/16 ,  G06F19/00 ,  H04J3/00 ,  H04J3/02 ,  H04L12/43 ,  H04L29/06 ,  H04N7/08 ,  H04N7/081 ,  H04N7/173 ,  H04N7/18

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 of 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 means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

公开(公告)号：US20050216123A1

公开(公告)日：2005-09-29

申请号：US11133011

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： B25J5/00 ,  B25J9/16 ,  G06F19/00 ,  H04J3/00 ,  H04J3/02 ,  H04L12/43 ,  H04L29/06 ,  H04N7/08 ,  H04N7/081 ,  H04N7/173 ,  H04N7/18

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 methods a transmitting device and method, a receiving device and method, and robot apparatus are capable of 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 means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means 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发送和接收图像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复用图像数据输出到相应的通道 是基于分析结果提供的。

公开(公告)号：US06697708B2

公开(公告)日：2004-02-24

申请号：US10149825

申请日：2002-09-24

申请人： Tsuyoshi Takagi ,  Kohtaro Sabe ,  Takayuki Sakamoto ,  Kazufumi Oyama

发明人： Tsuyoshi Takagi ,  Kohtaro Sabe ,  Takayuki Sakamoto ,  Kazufumi Oyama

IPC分类号： G06F1900

CPC分类号： G06N3/008 ,  A63H30/04 ,  G05B19/4062 ,  G05B2219/34396

摘要： A robot apparatus includes a command controller (101) for outputting an output command associated with an input command, management units (102), (103) and (104) for outputting data associated with the commands output by the command controller (101), a command transmitter (105) for controlling the transmission of the data output by the management units (102), (103) and (104) and controllers (106), (107) and (108) for controlling action units (109), (110) and (111), such as a motor, based on data output by the command transmitter (105). The command transmitter (105) sends the action control data for synchronization, output by the management units (102), (103) and (104), in synchroneity to the action units (109), (110) and (111).

摘要翻译： 机器人装置包括用于输出与输入命令相关联的输出命令的命令控制器（101），用于输出与命令控制器（101）输出的命令相关联的数据的管理单元（102），（103）和（104） 用于控制由管理单元（102），（103）和（104）输出的数据的传输的命令发送器（105）和用于控制动作单元（109）的控制器（106），（107）和（108） （110）和（111），诸如电动机，基于命令发射器（105）输出的数据。 命令发送器（105）将用于同步的动作控制数据发送到动作单元（109），（110）和（111），由管理单元（102），（103）和（104）以同步方式输出。

公开(公告)号：US20130066816A1

公开(公告)日：2013-03-14

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

CPC分类号： G06N7/005

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.

摘要翻译： 提供了一种信息处理装置，其包括：学习部，执行对代理执行动作的环境的模型的学习，使用在所述代理能够行动的动作时观察到的观察值执行动作，动作确定部确定动作为 基于该模型执行的代理，以及用户指令输出部，根据来自用户的指示输出表示来自用户的指示的指示信息，其中动作确定部根据指示信息来确定代理执行的动作 当有来自用户的指令时。

公开(公告)号：US08331616B2

公开(公告)日：2012-12-11

申请号：US12191610

申请日：2008-08-14

申请人： Kohtaro Sabe ,  Atsushi Okubo ,  Jun Yokono

发明人： Kohtaro Sabe ,  Atsushi Okubo ,  Jun Yokono

IPC分类号： G06K9/00

CPC分类号： G06K9/00248

摘要： A face image processing apparatus selects feature points and feature for identifying a person through statistical learning. The apparatus includes input means for inputting a face image detected by arbitrary face detection means, face parts detection means for detecting the positions of face parts in several locations from the input face image, face pose estimation means for estimating face pose based on the detected positions of face parts, feature point position correcting means for correcting the position of each feature point used for identifying the person based on the result of estimation of face pose by the face pose estimation means, and face identifying means for identifying the person by calculating a feature of the input face image at each feature point after position correction is performed by the feature point position correcting means and checking the feature against a feature of a registered face.

摘要翻译： 面部图像处理装置通过统计学习选择特征点和特征来识别人。 该装置包括用于输入由任意面部检测装置检测到的面部图像的输入装置，用于从输入面部图像检测几个位置中的面部部分的位置的面部部位检测装置，基于检测位置估计面部姿势的面部姿势估计装置 特征点位置校正装置，用于根据面部姿势估计装置的面部姿势的估计结果校正用于识别人的每个特征点的位置，以及面部识别装置，用于通过计算特征来识别人物 通过特征点位置校正装置执行位置校正之后的每个特征点处的输入面部图像，并针对登记面部的特征检查特征。