公开(公告)号：US07613581B2

公开(公告)日：2009-11-03

申请号：US11892529

申请日：2007-08-23

申请人： Vladimir Skvortsov ,  Seok-won Bang ,  Hyoung-ki Lee

发明人： Vladimir Skvortsov ,  Seok-won Bang ,  Hyoung-ki Lee

IPC分类号： G01C17/38

CPC分类号： G01C17/38

摘要： A method of calibrating a compass sensor in consideration of a magnetic environment is provided. The method includes (a) acquiring magnetic force data by rotating a compass sensor 360 degrees, the compass sensor including a biaxial magnetometer, (b) fitting the acquired magnetic force data to an ellipse function, (c) transforming the acquired magnetic force data and the ellipse function into a circle which is centered on an origin, and (d) calculating a distortion factor based on an inclination of a major axis of the ellipse function or the acquired magnetic force data to a horizontal axis, the distortion factor indicating the degree to which a magnetic field is distorted.

摘要翻译： 提供考虑到磁环境校准罗盘传感器的方法。 该方法包括：（a）通过360度旋转罗盘传感器获取磁力数据，罗盘传感器包括双轴磁力计，（b）将所获取的磁力数据拟合成椭圆函数，（c）将所获取的磁力数据和 椭圆函数成为以原点为中心的圆，（d）基于椭圆函数的长轴或获取的磁力数据与水平轴的倾斜度计算失真因子，表示程度的失真因子 磁场失真。

公开(公告)号：US07333969B2

公开(公告)日：2008-02-19

申请号：US10265259

申请日：2002-10-07

申请人： Mi-hee Lee ,  Seok-won Bang ,  Hyoung-ki Lee

发明人： Mi-hee Lee ,  Seok-won Bang ,  Hyoung-ki Lee

IPC分类号： G06F9/455

CPC分类号： G06N3/004

摘要： Disclosed is a nervous system-based emotion synthesizing apparatus which enables an emotion of a humanoid to be synthesized in a manner similar to that of a human using a nervous system-adjusting mechanism of a human body according to emotions. The human nervous system-based emotion synthesizing apparatus, includes a stimulus sensor portion having at least a stimulus sensor for sensing an external stimulus, an emotion generator for generating an predetermined emotion corresponding to the sensed external stimulus, a physiological signal generator for generating at least one artificial physiological signal in response to the sensed stimulus and the generated emotion, and an emotional behavior generator for generating at least one emotional behavior through a predetermined physical reaction in response to the sensed stimulus and the generated emotion, whereby the generated artificial physiological signal is fed back to the emotion generator and the emotional behavior generator, and the generated emotional behavior is fed back to the emotion generator and the physiological signal generator so that the emotion, the artificial physiological signal and the emotional behavior are combined to produce and express a complex emotion.

摘要翻译： 公开了一种基于神经系统的情感合成装置，其能够以类似于使用人体的神经系统调节机构的人的情绪类似于人的方式来合成人形象的情感。 基于人类神经系统的情感合成装置包括至少具有用于感测外部刺激的刺激传感器的刺激传感器部分，用于产生对应于感测到的外部刺激的预定情绪的情绪发生器，用于产生至少 响应于所感测的刺激和所产生的情感的一个人造生理信号，以及一个情感行为发生器，用于响应于所感测到的刺激和所产生的情绪，通过预定的物理反应产生至少一种情感行为，由此所产生的人造生理信号是 反馈给情绪发生器和情绪行为发生器，并将所产生的情绪行为反馈给情绪发生器和生理信号发生器，使情绪，人工生理信号和情感行为相结合，产生和表达复合体 情感。

公开(公告)号：US06656116B2

公开(公告)日：2003-12-02

申请号：US09931767

申请日：2001-08-20

申请人： Jay-woo Kim ,  Seok-won Bang ,  Jeong-hwan Kim ,  Hyoung-ki Lee

发明人： Jay-woo Kim ,  Seok-won Bang ,  Jeong-hwan Kim ,  Hyoung-ki Lee

IPC分类号： A61B500

CPC分类号： G06F3/011 ,  A61B5/0008 ,  A61B5/01 ,  A61B5/0205 ,  A61B5/0816 ,  A61B5/1455 ,  A61B5/16 ,  A61B5/441 ,  G06F2203/011

摘要： An apparatus and method for perceiving a physical and emotional state, which allows easy attachment to and detachment from a human body, and through which a bio-signal is simply detected, are provided. The apparatus includes a bio-signal detection part attached to a predetermined portion of a body for performing analog signal processing on at least one bio-signal detected from the body and outputting the processed bio-signal, and a bio-signal recognizing part for performing digital signal processing on the processed bio-signal received from the bio-signal detection part, perceiving the physical and emotional state from the result of the digital signal processing, and representing the physical and emotional state. Accordingly, the apparatus can be conveniently attached to a predetermined portion of a user's body, a bio-signal transmitted wirelessly or through a wire can be easily detected, a physical and emotional state which is perceived based on the detected bio-signal can be reported to the user, and a rapidly changing emotional state or an emotional state which remains for a long time can be perceived in real time.

公开(公告)号：US08903159B2

公开(公告)日：2014-12-02

申请号：US12662528

申请日：2010-04-21

申请人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

发明人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

IPC分类号： G06K9/00 ,  G06T7/20

CPC分类号： G06T7/204 ,  G06T7/248 ,  G06T2207/10016 ,  G06T2207/20012

摘要： A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale.

摘要翻译： 提供了一种考虑规模跟踪图像的方法和装置。 可以根据预定的尺度不变性指数（SII）将注册的图像补丁划分为比例不变图像补丁和缩放变量图像补丁。 如果图像内的注册图像补丁是比例不变的图像补丁，则通过调整其位置来跟踪比例不变的图像补丁，而如果注册的图像补丁是缩放变体图像补丁，则不等式的图像补丁是 通过调整其位置和比例来跟踪。

公开(公告)号：US20110085699A1

公开(公告)日：2011-04-14

申请号：US12662528

申请日：2010-04-21

申请人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

发明人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

IPC分类号： G06K9/00

CPC分类号： G06T7/204 ,  G06T7/248 ,  G06T2207/10016 ,  G06T2207/20012

摘要： A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale.

摘要翻译： 提供了一种考虑规模跟踪图像的方法和装置。 可以根据预定的尺度不变性指数（SII）将注册的图像补丁划分为比例不变图像补丁和缩放变量图像补丁。 如果图像内的注册图像补丁是比例不变的图像补丁，则通过调整其位置来跟踪比例不变的图像补丁，而如果注册的图像补丁是缩放变体图像补丁，则不等式的图像补丁是 通过调整其位置和比例来跟踪。

公开(公告)号：US08600603B2

公开(公告)日：2013-12-03

申请号：US12588956

申请日：2009-11-03

申请人： Ji-young Park ,  Hyoung-ki Lee ,  Ki-wan Choi

发明人： Ji-young Park ,  Hyoung-ki Lee ,  Ki-wan Choi

IPC分类号： G01C22/00 ,  G05D1/00

CPC分类号： G06K9/00691 ,  G06T7/75

摘要： A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.

摘要翻译： 提供了移动机器人的定位方法和定位装置。 在一个方面，预先存储参考对象的特征信息以用作定位的标记，并且通过利用在移动机器人的初始位置获得的所存储的特征信息和特征信息来定义参考特征信息。 因此，可以增加本地化的准确性，而无需使用额外的人造地标。

公开(公告)号：US20100094460A1

公开(公告)日：2010-04-15

申请号：US12458786

申请日：2009-07-22

申请人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

发明人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

IPC分类号： G05B19/04

CPC分类号： B25J9/1692 ,  G05B2219/37563 ,  G05B2219/39388 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203 ,  G06T2207/20076 ,  G06T2207/30244 ,  G06T2207/30252

摘要： A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.

摘要翻译： 提供机器人的SLAM。 机器人的位置和特征数据的位置可以通过获取机器人周围的图像，从图像中提取特征数据，并将所提取的特征数据与登记的特征数据进行匹配来估计。 此外，在相机坐标系中执行测量更新，并且在坐标转换时添加适当的假设，从而减少非线性分量，从而改善SLAM性能。

公开(公告)号：US08855819B2

公开(公告)日：2014-10-07

申请号：US12458786

申请日：2009-07-22

申请人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

发明人： Ki-wan Choi ,  Hyoung-ki Lee ,  Ji-young Park

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05D1/02 ,  B25J9/16

CPC分类号： B25J9/1692 ,  G05B2219/37563 ,  G05B2219/39388 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203 ,  G06T2207/20076 ,  G06T2207/30244 ,  G06T2207/30252

摘要： A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.

摘要翻译： 提供机器人的SLAM。 机器人的位置和特征数据的位置可以通过获取机器人周围的图像，从图像中提取特征数据，并将所提取的特征数据与登记的特征数据进行匹配来估计。 此外，在相机坐标系中执行测量更新，并且在坐标转换时添加适当的假设，从而减少非线性分量，从而改善SLAM性能。

公开(公告)号：US20100152945A1

公开(公告)日：2010-06-17

申请号：US12588956

申请日：2009-11-03

申请人： Ji-young Park ,  Hyoung-ki Lee ,  Ki-wan Choi

发明人： Ji-young Park ,  Hyoung-ki Lee ,  Ki-wan Choi

IPC分类号： G05D1/00

CPC分类号： G06K9/00691 ,  G06T7/75

摘要： A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.

摘要翻译： 提供了移动机器人的定位方法和定位装置。 在一个方面，预先存储参考对象的特征信息以用作定位的标记，并且通过利用在移动机器人的初始位置获得的所存储的特征信息和特征信息来定义参考特征信息。 因此，可以增加本地化的准确性，而无需使用额外的人造地标。

公开(公告)号：US07953551B2

公开(公告)日：2011-05-31

申请号：US11319054

申请日：2005-12-28

申请人： Jun-ho Park ,  Hyoung-ki Lee

发明人： Jun-ho Park ,  Hyoung-ki Lee

IPC分类号： G01C21/30 ,  G01C21/32

CPC分类号： G05D1/0274 ,  G01C21/20 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0203

摘要： A method of moving in a minimum cost path using a grid map, and an apparatus to perform the method, the method including calculating a move cost to a goal, from each of a plurality of cells comprises in a space in which a mobile home appliance moves, and planning a movement path to the goal according to the move cost; determining one or more via points at which a direction changes on the movement path; planning the minimum cost path from the movement path by selecting one or more shortest-distance via points from the via points; and moving from a first shortest-distance via point to a second shortest-distance via point.

摘要翻译： 一种使用网格图以最小成本路径移动的方法以及执行该方法的装置，包括从多个小区中的每个小区计算目标的移动成本的方法包括在移动家用电器 根据移动成本计划移动路径到目标; 确定方向在所述移动路径上变化的一个或多个通过点; 通过从通路点选择一个或多个最短距离通过点来规划来自运动路径的最小成本路径; 并且从第一最短距离通过点移动到第二最短距离通过点。